Purpose

When it comes to the high accuracy autonomous motion of the mobile robot, it is challenging to effectively control the robot to follow the desired trajectory and transport the payload simultaneously, especially for the cloud robot system. In this paper, a flexible trajectory tracking control scheme is developed via iterative learning control to manage a distributed cloud robot (BIT-6NAZA) under the payload delivery scenarios.

Design/methodology/approach

Considering the relationship of six-wheeled independent steering in the BIT-6NAZA robot, an iterative learning controller is implemented for reliable trajectory tracking with the payload transportation. Meanwhile, the stability analysis of the system ensures the effective convergence of the algorithm.

Findings

Finally, to evaluate the developed method, some demonstrations, including the different motion models and tracking control, are presented both in simulation and experiment. It can achieve flexible tracking performance of the designed composite algorithm.

Originality/value

This paper provides a feasible method for the trajectory tracking control in the cloud robot system and simultaneously promotes the robot application in practical engineering.

中文翻译：

---

具有有效载荷交付的分布式云机器人的迭代学习控制

目的

当涉及到移动机器人的高精度自主运动时，有效控制机器人遵循所需的轨迹并同时运输有效载荷是一项挑战，特别是对于云机器人系统。在本文中，通过迭代学习控制开发了一种灵活的轨迹跟踪控制方案，以在有效载荷交付场景下管理分布式云机器人（BIT-6NAZA）。

设计/方法/方法

考虑到 BIT-6NAZA 机器人中六轮独立转向的关系，实现了迭代学习控制器，以实现有效载荷运输的可靠轨迹跟踪。同时，系统的稳定性分析保证了算法的有效收敛。

发现

最后，为了评估开发的方法，一些演示，包括不同的运动模型和跟踪控制，在仿真和实验中都给出了。它可以实现所设计的复合算法的灵活跟踪性能。

原创性/价值

本文为云机器人系统中的轨迹跟踪控制提供了一种可行的方法，同时促进了机器人在实际工程中的应用。