摘要
创建了机器人两关节二维模型简图,给出了机器人动力学方程式,设计了模糊PID控制方法,对机器人关节运动轨迹控制参数进行了在线调整。采用Matlab对机器人关节模糊PID控制效果进行仿真。仿真结果显示,机器人关节采用模糊PID控制方法,实际输出运动轨迹与理论输入运动轨迹偏差较小。机器人关节引用模糊PID控制方法,能够避免不确定环境因素的干扰,提高两关节运动轨迹的跟踪精度。
A robot dynamics equation and the design of the fuzzy PID control method are provided to control the robot joint trajectory parameters. The fuzzy PID control effect of robot joints is simulated by using Matlab. At the same time,the traditional PID control method is compared and analyzed. The simulation results show that the robot joint adopts the fuzzy PID control method,the actual output motion trajectory and the theoretical input motion trajectory deviation is small. The fuzzy PID control method is used to avoid the disturbance of uncertain environmental factors,thus improving the tracking accuracy of the motion trajectory of the two joints.
出处
《黑龙江工业学院学报（综合版）》
2018年第2期53-56,共4页
Journal of Heilongjiang University of Technology(Comprehensive Edition)
基金
2017年安徽省高校优秀青年人才支持计划项目(项目编号:gxyq2017223)的研究成果
