Research on dynamic target grasping control method for food collaborative robot
Objective:Solve the problem of low accuracy of collaborative robots in food dynamic target grasping at present.Methods:Based on the architecture of collaborative robots,a combination of fuzzy self-tuning PID control and robust adaptive compensator was proposed for collaborative robot food dynamic target grasping.PID combined with fuzzy control to achieve parameter self-tuning,and robust algorithm combined with adaptive algorithm for system uncertainty compensation.The performance of the proposed method was analyzed through experiments,verifying its feasibility.Results:The proposed method had good results in the dynamic target grasping of collaborative robots,improving the accuracy of dynamic grasping.At a conveyor belt speed of 100 mm/s,the success rate of dynamic grasping reaches 99.50％,which had certain application value for food dynamic target grasping.Conclusion:By optimizing existing target grasping control methods,the grasping accuracy of collaborative robots can be effectively improved.
国家科技期刊平台
NSTL
万方数据
维普
