Abstract:

For the trajectory tracking control problem of joint robot, the idea of feed-forward compensation was designed for conventional PID control in order to improve the tracking performance of the system. This method was applied to GR-II type twojoint robot. The simulation results proved that the control method could guarantee good trajectory tracking performance of the system, and effectively restrain interferences. Compared with conventional PID control, the method proposed in this paper has better control performance.

Key words: trajectory tracking, joint robot, feed-forward compensation