Aiming at the control accuracy and response speed of industrial robots,a position-based fuzzy PID impedance control algorithm is proposed in this paper to conduct force control simula-tion research on robots.The control simulation of six-degree-of-freedom industrial robot arm is built according to Lagrange equation and Simulink simulation platform,and the forward and inverse ki-nematics and dynamics analysis are carried out.The effectiveness and applicability of the proposed algo-rithm are verified,and the results show that the algorithm has good control effect,further reduces the contact force and position error of the control process,and improves the control precision of the robot.
维普
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