Adaptive PID feedback tracking control for 6-DOF collaborative robot

Abstract

With the increasing complexity of control systems in industrial process control, traditional controllers are greatly limited in many occasions, so the development of new controller is extremely urgent. This paper combines adaptive feedback control with PID control, and designs a new type of adaptive PID feedback controller. The designed controller is verified by establishing a physical model of the 6-DOF collaborative robot. On the basis of improved adaptive PID feedback control, precise tracking control of multi-DOF cooperative robots is achieved, which improves response speed and eliminates steady-state errors. The designed controller is compared with classical PID control and adaptive control. The steady-state performance, dynamic performance, and anti-interference performance of position control and velocity control are analyzed. The improved adaptive PID feedback control has better control performance. The feasibility and reliability of the adaptive PID feedback controller for collaborative robots are verified.