Time-Optimal and Jerk-Continuous Trajectory Planning and Tracking Control for 6-DOF Manipulator based on High-Order Fully Actuated System Control Theory

This paper focuses on a 6-DOF manipulator and studies how to reduce the trajectory operation time while ensuring the continuity and stability during motion and improving the precision of trajectory tracking control. The manipulator system's kinematic model is developed through utilizing the D-H parameter approach. And the manipulator system's dynamic model is derived through the utilization of Lagrangian dynamics equations, and incorporate the theory of fully actuated system to derive high-order fully actuated (HOFA) model of the system. The joint space interpolation trajectory is constructed by using the 7th-order B-spline curve interpolation method to guarantee the continuity of velocity, acceleration, and jerk. Additionally, to minimize the point-to-point operation time, the motion trajectory is optimized in conjunction with the PSO algorithm. Within the HOFA system model's framework, a direct parameterization approach is employed to design a trajectory tracking controller which guarantee rapid and precise tracking of the trajectory designed for the manipulator. Ultimately, the proposed design methods are validated through simulation experiments.