MPC Based Trajectory Tracking Simulation of Membrane Wall Welding Gantry Robot Arm
Department of Mechanical Materials, Science and Technology College of Nanchang Hangkong University, Jiujiang 332020, China
| Abstract: | Purpose - Through a series of iterative processes, the proposed method allows the manipulator to get as close as possible to the desired path under joint constraints with high accuracy and short computation time. To meet the urgent need for accuracy and stability in the membrane wall welding process. Design/methodology/approach - This study focuses on the potential of model predictive control (MPC) to improve the ability of robotic systems to accomplish complex welding tasks. First, a gantry arm model suitable for membrane wall welding was developed for kinematic calculations. Extensive simulation tests were then conducted to investigate the accuracy and feasibility of MPC in accomplishing membrane wall welding tasks and its efficiency in resolving kinematic constraints. Finally, parameters such as trajectory accuracy and system responsiveness were also examined. Findings - The MPC approach significantly improved the trajectory tracking process for membrane wall welding, and the control system demonstrated high accuracy, efficiency, and adaptability, especially in nonlinear multiple-input. These multiple-output redundant robotic welding scenarios contribute to the development of more complex, accurate, and reliable robotic welding systems. Originality/Value - Through a series of iterative processes, the proposed method enables the gantry manipulator to get as close as possible to the desired paths under the welding structure and the motion degrees of freedom constraints, with high accuracy and fast convergence speed. Ethical Compliance: All procedures performed in studies involving human participants were in accordance with the ethical standards of the institutional and/or national research committee and with the 1964 Helsinki Declaration and its later amendments or comparable ethical standards. |
| Keywords: | Model Predictive Control; Membrane Wall Welding; CoppeliaSim; Trajectory Tracking Control; Gantry with Robot Arm |
| DOI: | 10.57237/j.mse.2026.02.001 |
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收稿日期: 2026-04-21
接受日期: 2026-05-20
在线出版日期: 2026-06-08
基金
| 1. | The Jiangxi Key Laboratory of Forming and Joining Technology for Aerospace Components (No: EL202280319) |
| 2. | Science and Technology Research Project of Jiangxi Provincial Department of Education (No: GJJ218716 and No: GJJ2204316) |
| 3. | Technology Research Project of Jiangxi Province Education Department (Grant No. S20231343310) |
| 4. | Nanchang Hangkong University Science and Technology College Student Innovation and Entrepreneurship Program (No: S20231343320) |
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