Optimal Trajectory Planning and Control of Manipulator Based on Model Predictive and Inversive Control

Aiming at the problem of optimal trajectory planning and tracking control of manipulators, this paper proposes a trajectory planning and control algorithm based on model predictive and inversive control(MPIC). The MPIC method designs the controller based on the controllability of the system, predicts the future state according to the system's current state when the control quantity is 0, and uses the generalized inverse solution to make the future state error 0. The method sets the total amount of work done by non-conservative forces of the system during motion as an objective function, and the optimal trajectories of each manipulator joint are obtained by the differential evolutionary algorithm and spline interpolation. The MPIC method is used to design the tracking controller, which realizes the trajectory planning and tracking control of the 2-dof manipulator and verifies the feasibility and effectiveness of the technique through MATLAB simulation.