Delta Robot Motion Control System Based on Fuzzy PI

摘要

A system about the vision-decision of parallel robot is construsted.Its technology roadmap of the work is that the smart camera calibrated by the method presented by Zhang Zhengyou divides target via an online visual detection algorithm,the joint space trajectory planning of the robot' s grab path is designed by the quintic polynomial interpolation,the joint space coordinate axes is obtained based on algebraic method of the inverse kinematics.A new fuzzy PI controller is designed with the study of Delta robot movement mechanism,and motion control of the robot is implemented by using LabVIEW software combined with FPGA.The mean rise time of fifty groups respectively based on fuzzy PI controller and PI controller are 179.6 ms and 200.2 ms.The result shows that the fuzzy PI controll has a better dynamic performance,and it also combines the good steady performance characteristics of traditional PI control.