Comprehensive Trajectory Control Strategy for Fine Operation of Excavator Robot
Excavator robots are intelligent equipment that have undergone robotic transformation of traditional excavators.Aiming at the problems of strong nonlinearity of the excavator control system,difficult establishment of mathematical models,and high precision requirements of fine operation trajectory,this paper proposes a comprehensive trajectory control strategy based on variable universe fuzzy PID and cross-coupling control.The variable universe fuzzy PID control with dead zone compensation is used for single actuator tracking control,and the cross-coupling control is used to improve the contour accuracy of the actuator end.The control strategy is validated and analyzed through the co-simulation model.The simula-tion results show that:comparing the two control strategies of PID and variable universe fuzzy PID,the control strategy de-signed in this paper is better than the other two algorithms in terms of responsiveness and accuracy.
万方数据
维普
