基于非线性模型预测算法下机械臂轨迹跟踪控制

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关键词：非线性模型预测；轨迹跟踪；六轴机械臂；动力学建模；高精度跟踪控制；线性化处理中图分类号：TN609-34；TP241.2 文献标识码：A 文章编号：1004-373X（2026）09-0141-07

Robotic arm trajectory tracking control based on NMPC algorithm

ChenYuanrun，Luo Xianxi （ScholofMechanicalandElectronicEngineering，EastChinaUnversityofTechnology，Nanchang33o3，Chia）

Abstract：Inviewof the poor trajectorytracking controlaccuracy caused by manipulator nonlinear characteristicsand uncertaindisturbances，thispaperproposesanNMPC（nonlinearmodelpredictivecontrol）algorithm.Firstly，asix-degreeoffredomserialmanipulatoristakenastheresearchobject，thekinematicanddynamicmodelsandparametersof themanipulator areclarified，andtheNMPClgorithmisdesignedacordinglySecondly，theTaylorformulaisusedtolinearizetheinputand output toimprovethecomputationeficiency.Then，theactualjointanglerangeandjointinputtorqueofthemanipulatorare takenastheconstraintsinordertoconformtotherealphysicalsituations.Finaly，asimulationexperimentwasdesigned accordingtotheconditionsandpurposesofthemanipulatortrajectory trackingcontrol.Thesimulationsshowthat，incomparison withthe traditionalPIDcontrol，theNMPCalgorithmreducestheaveragesteady-stateerorsof joint2tojoint5of the manipulator by 74.34% ， 88.58% ， 92.28% ，and 97.8%，respectively，and their maximum steady - state errors are reduced by （204号 86.07% ， 92.44% 92.86% ，and 98.9%，respectively.The proposed algorithm has good control performance and superior timeliness.

Keywords：nonlinear model prediction;trajectory tracking;six-axis manipulator;dynamics modeling;；tracking control with high precision; linearization processing

0 引言

随着机器人技术的发展，作为机器人系统重要部分的机械臂在越来越多领域发挥作用。（剩余8672字）