Research On Motion Control Technology Of Servo-Driven Serial Picking Robot Based On Fuzzy-PID

It mainly studies the fuzzy PID motion control mechanism of electric actuator-driven serial picking robot,from robot kinematics,joint drive system and intelligent motion control.Combined with the requirements of ball picking,designed a 5-DOF picking robot.The kinematics model of a 5-DOF picking robot is established by D-H method,and the forward kinematics and inverse kinematics are deduced.The analysis of the robot's motion space was carried out.Taking the electric actuator as the executive component,a mathematical model of picking robot joint drive system was established.In Simulink,study open-loop,PID and fuzzy PID three kinds of control simulation for joint drive system.The simulation results show that compared with the open-loop control,in PID and fuzzy PID control,the stability time of the joint drive system increases a little,but the overshoot decreases obviously.Compared with PID control,rise time,settling time and overshoot of fuzzy PID control are reduced,while enhancing system stability,speed up the adjustment.A single degree of freedom manipulator fuzzy control experiment was carried out.The encoder angular displacement sensor was used to measure the angle.On the STM32 embedded system platform,a fuzzy PID serial pick-up robot motion control system was designed and developed.In the range of 0 ° ~-85 °,on the joint 2,the controller separately performs openloop control PID control and fuzzy PID control.The experimental results show that,compared with open-loop control,PID control and fuzzy PID control,the adjustment time increases,the adjustment error is reduced Compared with PID control,the adjustment time of fuzzy PID control does not change much,and the adjustment error decreases a little.