Two-joint robot tracking fuzzy control design method

A technology of fuzzy control and design method, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of high coupling nonlinearity, etc., achieve the effect of eliminating measurement noise and ensuring control accuracy

Active Publication Date: 2018-09-28
XIAMEN UNIV OF TECH
View PDF3 Cites 4 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the two-joint robot modeled from the dynamics principle has high coupling nonlinearity, and there is measurement noise in the planar position measurement of the robot joint ends

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Two-joint robot tracking fuzzy control design method
  • Two-joint robot tracking fuzzy control design method
  • Two-joint robot tracking fuzzy control design method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0014] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.

[0015] see figure 1 , the present invention provide...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention provides a two-joint robot tracking fuzzy control design method, and relates to the technical field of robot control. The method includes that a two-joint robot system is built and has two permanent magnet direct current motors to control a first joint and a second joint to rotate respectively, wherein the first joint is hinged to the second joint. According to the dynamics principle, a mathematical model of the two-joint robot system is built, and the mathematical model belongs to a nonlinear system with strong coupling. The nonlinear system is converted into a fuzzy system based on the mathematical model and the expression method of the fuzzy model. A tracking fuzzy output feedback controller is designed based on measurement signals of the two-joint robot system. Finally, adelta operator fuzzy filter is designed for filtering measurement noise. Measurement noise existing in the plane position measurement at the tail end of the robot joint can be effectively eliminated,and the control precision of the tail end position of the two-joint robot is guaranteed.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a fuzzy control design method for tracking of a two-joint robot. Background technique [0002] Joint robot, also known as joint arm robot or joint robot arm, is one of the most common forms of industrial robots in the industrial field today, and is suitable for mechanical automation operations in many fields. The two-joint robot can simulate the joint motion of the human arm, and has very broad application prospects in aerospace, health care, precision manufacturing, and remote collaboration. However, two-joint robots modeled from dynamic principles have highly coupled nonlinearities, and there is measurement noise in the planar position measurements of robot joint ends. How to make the two joints of the robot cooperate to rotate to realize the position tracking of the plane coordinates; how to eliminate the measurement noise of the plane position are two control difficult...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 徐敏林瑞金
Owner XIAMEN UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap