A closed-loop control method for inertial error feedback fusion of multi-degree-of-freedom robot

The multi-degree-of-freedom robot is affected by the abrupt change of environment and disturbance of its own components, which leads to instability of control. In order to improve the stability of the multi-degree-of-freedom robot, a closed-loop control method of multi-degree-of-freedom robot based on error feedback fusion tracking is proposed. A parameter identification model for inertial tracking of a multi-degree-of-freedom robot is established, flexible control of drive mechanism components of the multi-degree-of-freedom robot is carried out by combining a multi-factor constraint parameter fusion method, an adaptive control law for inertial error feedback of the robot is established, a mechanical parameter optimization analysis model and a dynamic model of the robot are established, parameter adaptive optimization in the closed-loop control process of the multi-degree-of-freedom robot is carried out by combining an error feedback adaptive correction method and an inertial compensation method, and the robot position and posture adaptive adjustment is carried out according to the parameter optimization result, so that the stability control of the robot is realized. The simulation results show that the control error of the multi-degree-of-freedom robot using this method is small, the control stability and robustness are strong, and it can quickly converge to a stable state.