Optimal Dynamics Control in Trajectory Tracking of Industrial Robots Based on Adaptive Gaussian Pseudo-Spectral Algorithm

A pseudo-spectral control algorithm based on adaptive Gauss collocation point reconstruction is proposed to efficiently solve the optimal dynamics control problem of industrial robots. A mathematical model for the kinematic relationship and dynamic optimization control of industrial robots has been...

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Veröffentlicht in:Algorithms Jg. 18; H. 1; S. 18
Hauptverfasser: Zhang, Jing, Zhu, Xiaokai, Chen, Te, Dou, Guowei
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Basel MDPI AG 01.01.2025
Schlagworte:
Adaptive algorithms
Algorithms
Collocation
Collocation methods
Comparative analysis
Constraints
Control algorithms
Control methods
Control theory
Coordinate transformations
Design
Dynamic programming
Efficiency
Energy consumption
Gaussian pseudo-spectral method
Industrial robots
interpolation polynomial
Kinematics
Lagrange multiplier
Motion control
objective function
Optimal control
Optimization algorithms
optimization control
Parameterization
Reconstruction
Robot control
Robot dynamics
Robotics industry
Robots
Spectral control
Spectral methods
Tracking
Trajectory optimization
Underwater robots
ISSN:1999-4893, 1999-4893
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Zusammenfassung:A pseudo-spectral control algorithm based on adaptive Gauss collocation point reconstruction is proposed to efficiently solve the optimal dynamics control problem of industrial robots. A mathematical model for the kinematic relationship and dynamic optimization control of industrial robots has been established. On the basis of deriving the Legendre–Gauss collocation formula, a two-stage adaptive Gauss collocation strategy for industrial robot dynamics control variables was designed to improve the dynamics optimization control effect of industrial robot by improving the solution efficiency of constrained optimization problems. The results show that compared with the control variable parameterization method and the traditional Gaussian pseudo-spectral method, the proposed dynamic optimal control method based on an adaptive Gaussian point reconstruction algorithm can effectively improve the solving time and efficiency of constrained optimization problems, thereby further enhancing the dynamic optimization control and trajectory tracking effect of industrial robots.
Bibliographie:ObjectType-Article-1
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ISSN:1999-4893
1999-4893
DOI:10.3390/a18010018