Optimal Dynamics Control in Trajectory Tracking of Industrial Robots Based on Adaptive Gaussian Pseudo-Spectral Algorithm
A pseudo-spectral control algorithm based on adaptive Gauss collocation point reconstruction is proposed to efficiently solve the optimal dynamics control problem of industrial robots. A mathematical model for the kinematic relationship and dynamic optimization control of industrial robots has been...
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2025-01-01
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| Series: | Algorithms |
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| Online Access: | https://www.mdpi.com/1999-4893/18/1/18 |
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| author | Jing Zhang Xiaokai Zhu Te Chen Guowei Dou |
| author_facet | Jing Zhang Xiaokai Zhu Te Chen Guowei Dou |
| author_sort | Jing Zhang |
| collection | DOAJ |
| description | A pseudo-spectral control algorithm based on adaptive Gauss collocation point reconstruction is proposed to efficiently solve the optimal dynamics control problem of industrial robots. A mathematical model for the kinematic relationship and dynamic optimization control of industrial robots has been established. On the basis of deriving the Legendre–Gauss collocation formula, a two-stage adaptive Gauss collocation strategy for industrial robot dynamics control variables was designed to improve the dynamics optimization control effect of industrial robot by improving the solution efficiency of constrained optimization problems. The results show that compared with the control variable parameterization method and the traditional Gaussian pseudo-spectral method, the proposed dynamic optimal control method based on an adaptive Gaussian point reconstruction algorithm can effectively improve the solving time and efficiency of constrained optimization problems, thereby further enhancing the dynamic optimization control and trajectory tracking effect of industrial robots. |
| format | Article |
| id | doaj-art-03254864368f4806a870410d69cd5550 |
| institution | Kabale University |
| issn | 1999-4893 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Algorithms |
| spelling | doaj-art-03254864368f4806a870410d69cd55502025-01-24T13:17:29ZengMDPI AGAlgorithms1999-48932025-01-011811810.3390/a18010018Optimal Dynamics Control in Trajectory Tracking of Industrial Robots Based on Adaptive Gaussian Pseudo-Spectral AlgorithmJing Zhang0Xiaokai Zhu1Te Chen2Guowei Dou3School of Mechanical, Electrical and Automotive Engineering, Xuchang Vocational Technical College, Xuchang 461000, ChinaSchool of Mechanical, Electrical and Automotive Engineering, Xuchang Vocational Technical College, Xuchang 461000, ChinaAutomotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, ChinaSchool of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, ChinaA pseudo-spectral control algorithm based on adaptive Gauss collocation point reconstruction is proposed to efficiently solve the optimal dynamics control problem of industrial robots. A mathematical model for the kinematic relationship and dynamic optimization control of industrial robots has been established. On the basis of deriving the Legendre–Gauss collocation formula, a two-stage adaptive Gauss collocation strategy for industrial robot dynamics control variables was designed to improve the dynamics optimization control effect of industrial robot by improving the solution efficiency of constrained optimization problems. The results show that compared with the control variable parameterization method and the traditional Gaussian pseudo-spectral method, the proposed dynamic optimal control method based on an adaptive Gaussian point reconstruction algorithm can effectively improve the solving time and efficiency of constrained optimization problems, thereby further enhancing the dynamic optimization control and trajectory tracking effect of industrial robots.https://www.mdpi.com/1999-4893/18/1/18optimization controlGaussian pseudo-spectral methodobjective functioninterpolation polynomial |
| spellingShingle | Jing Zhang Xiaokai Zhu Te Chen Guowei Dou Optimal Dynamics Control in Trajectory Tracking of Industrial Robots Based on Adaptive Gaussian Pseudo-Spectral Algorithm Algorithms optimization control Gaussian pseudo-spectral method objective function interpolation polynomial |
| title | Optimal Dynamics Control in Trajectory Tracking of Industrial Robots Based on Adaptive Gaussian Pseudo-Spectral Algorithm |
| title_full | Optimal Dynamics Control in Trajectory Tracking of Industrial Robots Based on Adaptive Gaussian Pseudo-Spectral Algorithm |
| title_fullStr | Optimal Dynamics Control in Trajectory Tracking of Industrial Robots Based on Adaptive Gaussian Pseudo-Spectral Algorithm |
| title_full_unstemmed | Optimal Dynamics Control in Trajectory Tracking of Industrial Robots Based on Adaptive Gaussian Pseudo-Spectral Algorithm |
| title_short | Optimal Dynamics Control in Trajectory Tracking of Industrial Robots Based on Adaptive Gaussian Pseudo-Spectral Algorithm |
| title_sort | optimal dynamics control in trajectory tracking of industrial robots based on adaptive gaussian pseudo spectral algorithm |
| topic | optimization control Gaussian pseudo-spectral method objective function interpolation polynomial |
| url | https://www.mdpi.com/1999-4893/18/1/18 |
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