Nonlinear Dynamics Adjustment in Robotic Trajectory Control with Accelerated Convergence

Controlling a robot arm without an accurate system model is challenging. This paper introduces a nonlinear dynamics tuning mechanism to improve trajectory control. Applied to the PUMA 560 robot arm, the method enhances nonlinearity and accelerates convergence, with parameters optimized experimentally. Simulations demonstrate rapid error reduction and high-precision tracking, offering a promising solution for complex scenarios.