Effective Tracking Control of Desired Trajectory of a Manipulator Based on Impedance Control and Fuzzy Adaptive Technology

Abstract

A finite-time output constrained impedance control method for mechanical arm based on instruction filtering was proposed. The interaction between the mechanical arm and the environment was solved by impedance control technology so that the mechanical arm could track the desired trajectory. The response speed of the mechanical arm was improved by finite-time control, the tracking error was reduced, and the obstacle Lyapunov function was introduced to constrain the output state of the mechanical arm.The fuzzy adaptive technology was used to deal with unknown friction and external disturbance in the mechanical arm system. The simulation results showed that the proposed method could effectively track the desired trajectory, and the output states of the mechanical were restricted in the predefined constraint space, so it had a faster response speed and better tracking effect.