Repetitive Control Scheme of Robotic Manipulators Based on Improved B-Spline Function

Xingyu Wang, Anna Wang, Dazhi Wang, Wenhui Wang, Bingxue Liang, Yufei Qi and Aydin Azizi

Complexity, 2021, vol. 2021, 1-15

Abstract: In this paper, a repetitive control scheme of a 2-DOF robotic manipulator based on the improved cubic B-spline curve is proposed. Firstly, a repetitive controller for robotic manipulator is designed, which is composed of an iterative controller and disturbance observer. Then, an improved B-spline optimization scheme is introduced to divide the task of the robotic manipulator into three intervals. A correction function is added to each interval of cubic spline interpolation. Finally, a variety of cases are designed and simulated by MATLAB. The experimental results show that, compared with the conventional B-spline, the improved B-spline has better performance in tracking accuracy and smoothness of motion trajectory. By changing the mechanism of the manipulator, the cases of different weights and lengths are designed. The experimental results in these cases show that the proposed scheme can be applied to most of the 2-DOF robotic manipulator control systems.

Date: 2021
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/complexity/2021/6651105.pdf (application/pdf)
http://downloads.hindawi.com/journals/complexity/2021/6651105.xml (application/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:complx:6651105

DOI: 10.1155/2021/6651105

Access Statistics for this article

More articles in Complexity from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().