Design of improved PID compliant control system for multi-arm collaborative composite robot
In order to solve the problem of stability of the multi-arm collaborative composite robot in performing multi-arm collaborative temperature measurement operation at the top furnace mouth of the coke oven,a PID compliance control system based on improved particle swarm optimization(IPSO)is designed.For the temperature measurement of the coke oven top furnace mouth,firstly,a multi-arm collaborative composite robot is designed to realize the temperature measurement operation of the coke oven top furnace mouth during the moving process.Secondly,the mechanical leg and PID control model are built up,and applied to parameter tuning of the PID controller,compared with the Z-N method,the adjustment time of the PID compliance control model of the IPSO is shortened by 26 s,and the overshoot is smaller.Finally,curves of motion parameters of the composite robot are obtained by co-simulation of Simulink and Adams.The results show that in the process of advancing 2000 mm,the offset of fuselage of the multi-arm collaborative composite robot is only 0.45 mm,the overall movement speed can reach a maximum of 100 mm/s,and the maximum angular velocity of the knee joint is stable at 48 (°)/s and 54(°)/s,which is within the stable operation range of the robot.The results show that the multi-arm collaborative composite robot can move stably and can well realize the temperature measurement operation of the coke oven top furnace mouth.
multi-arm collaborationimproved particle swarm optimization algorithmPID control
NETL
NSTL
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