Time‐Optimal and Jerk‐Continuous Trajectory Planning and Tracking Control of Robots via High‐Order Fully Actuated System Theory Approaches

ABSTRACT This paper proposes an innovative trajectory planning algorithm and tracking control strategy, which ensures the continuous motion of the robot and minimizes time consumption while achieving precise trajectory tracking. First, a kinematic model and a dynamic model of the system are established, and the dynamic model is transformed into a high‐order fully actuated (HOFA) system model using equivalent transformation. Then, the 7th‐order B‐spline curve interpolation method is adopted to construct the jerk‐continuous interpolation trajectory in the joint space. With the shortest trajectory motion time as the optimization objective, the trajectory curve is optimized by combining it with the improved particle swarm optimization algorithm. In terms of trajectory tracking control, a practical controller is designed by combining the HOFA system theory approaches, achieving high tracking accuracy. Finally, the effectiveness of the design method proposed in this paper is verified through simulation experiments.