基于模糊PID的室内喷涂机器人末端位姿控制方法
The End Pose Control Method of Indoor Spraying Robot Based on Fuzzy PID
何锋1
作者信息
- 1. 广东博智林机器人有限公司,佛山 528000
- 折叠
摘要
为提高室内喷涂机器人末端位姿控制精度,利用模糊比例-积分-微分(Proportion Integration Differentiation,PID),对室内喷涂机器人末端位姿控制展开研究.建立室内喷涂机器人运动学模型,采集机器人运行过程中的状态变化和外部环境信息,设计模糊PID控制器结构,计算喷涂机器人末端位姿控制输出,驱动机器人末端达到设定位姿.实验结果表明,相比传统控制方法,所提的基于模糊PID的室内喷涂机器人末端位姿控制方法在末端位置坐标的控制上表现出更高的精度和稳定性,末端位置坐标误差最高不超过 0.03,能够在不同工况下保持稳定的控制性能.
Abstract
To improve the accuracy of end pose control for indoor spraying robots,research is conducted on the end pose control of indoor spraying robots using fuzzy Proportion Integration Differentiation(PID).Establish a kinematic model of an indoor spraying robot,collect state changes and external environmental information during robot operation,design a fuzzy PID controller structure,calculate the end pose control output of the spraying robot,and drive the robot end to reach the set pose.The experimental results show that compared with traditional control methods,fuzzy PID control exhibits higher accuracy and stability in controlling the end position coordinates,with a maximum end position coordinate error of no more than 0.03,and can maintain stable control performance under different operating conditions.
关键词
模糊比例-积分-微分(PID)/喷涂机器人/末端位姿/控制方法Key words
fuzzy Proportion Integration Differentiation(PID)/spraying robot/end pose/control method引用本文复制引用
出版年
2024
NETL
NSTL
万方数据