Research on Algorithm of Humanoid Robot Arm Control System Based on Fuzzy PID Control

摘要

With the rapid development of intelligent technology, robot applications continue to expand and deepen. Based on the multi-degree-of-freedom humanoid manipulator, it is worthy of research to allow the operator to operate simply and flexibly while ensuring the control accuracy. As a kind of robot closest to human, service robot has great research value. The most widely used service robot is a mobile robot, which is generally composed of a mobile platform equipped with one or two robotic arms. The interactive control system based on virtual technology enables the robot to perform remote control instead of the operator in harsh environments. The friendly human-machine interface is used for human senses and control in special environments. It can create the first perspective of the robot’s working environment., without anyone being present. This paper is based on fuzzy PID control, which imitates human’s fuzzy control behavior, summarizes the operator’s natural language experience into control rules, and based on these rules, performs fuzzy reasoning and other processes to generate control quantities. This method has a good control effect for complex objects whose models are imprecise.