### End force tracking control algorithm of grinding robot based on model predictive control

LIU Zhe1,2, SONG Rui3, ZOU Tao1*

1. 1. Key Laboratory of Networked Control System of CAS, Shenyang Institute of Automation of Chinese Academy of Sciences, Shenyang 110016, Liaoning, China;
2. University of Chinese Academy of Sciences, Beijing 100049, China;
3. School of Control Science and Engineering, Shandong University, Jinan 250061, Shandong, China
• Received:2017-11-07 Online:2018-02-20 Published:2017-11-07

Abstract: A precise control algorithm using the model predictive control and surface prediction was proposed. The dynamic model and the prediction model of the manipulator were given. The surface coordinates of the next moment were obtained according to the surface prediction algorithm, and the desired rotation angle of each joint was obtained by the fast algorithm and the inverse kinematic algorithm. And in order to realize the overshoot tracking of the desired joint angle, the dynamic matrix control algorithm was used to solve the input torque of each joint motor. The end-point of manipulator was controlled to track the continuous surface by experimental and simulation. The results showed that the end force control algorithm using surface prediction and model prediction algorithm could effectively track the continuous surface in real time, which satisfied the ideal force control requirement.

CLC Number:

• TP242
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