Adaptive Control Method for Multi-Joint Robotic Arm Motion in Nuclear Power Plants Based on Fuzzy PID
When using conventional motion control methods,the joint angle error of the robotic arm is large and the control effect is poor.Therefore,a fuzzy PID based adaptive control method for multi-joint robotic arm motion in nuclear power plants is designed.This method first preprocesses the motion images of the robotic arm,and then based on this,obtains the joint angles of the multi-joint robotic arm to further understand the motion status of the robotic arm.Finally,a membership function for the motion of the robotic arm is established,and the parameters of the adaptive controller are adjusted based on fuzzy PID to optimize the motion control performance of the multi-joint robotic arm in nuclear power plants.The results show that the designed multi-joint robotic arm motion adaptive control method has a joint angle error of less than the standard for five parameter combinations detected,with the highest error being only 0.16°.This proves that the method has better adaptive control effect for multi joint robotic arms in nuclear power plants and has certain application value.
fuzzy PIDnuclear power plantsmulti-jointrobotic arm
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