PID trajectory tracking control of RP robot based on model compensation

RP robot is a kind of robot that can realize rotation and plane motion. Its structure is simple and has a wide range of applications. Firstly, the dynamic model of the robot is established based on Lagrange method, the PID controller based on dynamic model compensation is designed, and its function is constructed based on Lyapunov theory, which proves the stability of the control system. Finally, the effectiveness of the control system is proved by simulation experiments. The simulation results show that the designed controller can realize high-precision angular position tracking of joint 1 angle and high-precision displacement tracking of joint 2.