Design of nonlinear control system for motion trajectory of industrial handling robot

Aiming at the nonlinear problem of the motion trajectory of industrial handling robots, this paper designs a nonlinear control linearization method for optimization. The D-H linkage coordinate system is created by utilizing the D-H parameter rule to create the kinematic model for the handling robot. The kinematics of the robot are analyzed according to the information of the robot in the process of movement, and based on the analysis results, the position change relationship of the robot’s end coordinate relative to the base coordinate is established so as to calculate the workspace of the robot. Based on a 3-segment fifth-degree polynomial interpolation method, the trajectory function of the handling robot is constructed during the motion process. Transform the non-linear control system into a linear system using nonlinear feedback linearization, and design the controller to achieve stable control of the handling robot. The values of the angular displacement, angular velocity, and angular acceleration curves obtained by using the method of this paper for the motion trajectory planning of the handling robot are more reasonable. There is a significant difference in the angular error of the robot before and after control, and the angular changes of joint 1 and joint 2 after control by the algorithm of this paper are within the ranges of -1°~1° and -1°~4°, respectively. At the same time, the output torque of the controller of joint 2 maintains the steady state convergence between -300Nm~300Nm, realizing the effective control of the motion of the industrial handling robot.