Research on the motion planning and control method of the improved PID companion robot for children's games
To further improve the overall control performance of children's game robots,a robot tracking trajectory control algo-rithm based on improved PID control algorithm and feedforward control is proposed.Among them,the trajectory tracking control algo-rithm based on PID control algorithm,Sparrow Search Algorithm(SSA)is introduced for control algorithm optimization,and feedfor-ward control strategy is introduced to further improve the effectiveness of trajectory tracking control.The simulation results show that compared with traditional PID control algorithms,the improved PID control algorithm based on SSA algorithm has lower overshoot and better stability in trajectory control;Compared with simple PID control,PID control with the introduction of feedforward control strate-gy can quickly track the ideal joint trajectory and achieve stable control during joint trajectory control,solving the problems of jitter and oscillation in the control process.In summary,the constructed robot tracking trajectory control algorithm has good performance and can perform stable and accurate robot motion control.It can be applied in the control design of companion robots and has better game interaction with children.
service-oriented robotstrajectory tracking controlPIDSSAfeedforward control
万方数据
维普
