Aiming at the operating efficiency of bolt tightening of the cable mobile robot,a vision positioning control method based on fuzzy logic is proposed.According to the structural characteristics of the cable line,an autonomous bolt search method is proposed,and the attitude control parameters of the manipulator are obtained.With the relative attitude and tilt angle of the bolt and nut of the manipulator as the control variables,a two-dimensional fuzzy robot vision positioning controller is designed.Through the dynamic adjustment of the control parameters,the optimal position motion control parameters can be obtained and used for the motion control of the robot.The proposed fuzzy control algorithm is used for bolt positioning control,and the perfor-mance is compared with the traditional PID control method.The simulation results show that the fuzzy control algorithm greatly improves the positioning accuracy and operation efficiency of the real-time operation manipulator.
关键词
模糊逻辑/电缆机器人/螺栓拧紧/视觉定位控制
Key words
Fuzzy Logic/Cable Robot/Bolt Tightening/Visual Positioning Control
维普
万方数据