A fuzzy control design method for two-joint robot tracking

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

Active Publication Date: 2021-04-30
XIAMEN UNIV OF TECH
View PDF3 Cites 0 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
  • A fuzzy control design method for two-joint robot tracking
  • A fuzzy control design method for two-joint robot tracking
  • A fuzzy control design method for two-joint robot tracking

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, which relates to the technical field of robot control. First, build a two-joint robot system, which has two permanent magnet DC motors to control the rotation of the first joint and the second joint, and the first joint and the second joint are articulated. According to the dynamics principle, the mathematical model of the two-joint robot system is established, which belongs to a nonlinear system with strong coupling. Based on the mathematical model and the expression method of the fuzzy model, the nonlinear system is transformed into a fuzzy system. Based on the measurement signals of a two-joint robot system, a tracking fuzzy output feedback controller is designed. Finally, a delta operator fuzzy filter is designed to filter measurement noise. The measurement noise existing in the plane position measurement of the joint end of the robot can be effectively eliminated, and the control accuracy of the end position of the two-joint robot can be 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 Patents(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