Application of Fuzzy Control Method in Visual Positioning of Cable Robot
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.
Fuzzy LogicCable RobotBolt TighteningVisual Positioning Control
万方数据
维普
