Motion control of two degrees of freedom(2-DOF) manipulator based on fuzzy PID: Motion control of 2-DOF manipulator based on fuzzy PID
Pages 217 - 223
Abstract
With the rapid development of robot technology, the manipulator is one of the important representative fields, and its motion control system research is particularly critical. In view of the limitations of the traditional PID method to control the motion of the 2-DOF manipulator, a fuzzy PID controller is designed and a motion control model of the 2-DOF manipulator based on the fuzzy PID control method is proposed. The simulation environment of the manipulator was built on the Simulink platform, and two simulation and comparison experiments were carried out. The two experiments were carried out and the results were discussed respectively in simple motion and complex motion scenarios. The experimental results show that fuzzy PID control has better dynamic and static performance than traditional PID control. It has better stability and control accuracy for the motion control of the 2-DOF manipulator. The experiment will promote the development of fuzzy control technology in the field of manipulator control, and lay a solid foundation for the future expansion of fuzzy control technology to the motion control of multi-degree of freedom manipulator.
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Index Terms
- Motion control of two degrees of freedom(2-DOF) manipulator based on fuzzy PID: Motion control of 2-DOF manipulator based on fuzzy PID
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Published In
June 2024
399 pages
ISBN:9798400709937
DOI:10.1145/3687488
Copyright © 2024 Copyright held by the owner/author(s). Publication rights licensed to ACM.
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Association for Computing Machinery
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Published: 18 November 2024
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ICCIR 2024
ICCIR 2024: 2024 4th International Conference on Control and Intelligent Robotics
June 21 - 23, 2024
Guangzhou, China
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