Design of Fuzzy Cross Coupling Controller for Cartesian Robot

摘要

In the three-axis Cartesian robot system driven by direct current motor, factors such as mechanical inertia, load disturbance and complex contour error model would affect the pose accuracy of the end effector. Aiming at the problem, a fuzzy cross coupling controller is designed. First, the contour error model of three axis robots and the dc motor model are established; then the coupling compensation algorithm is derived and three-axis cross coupling controller is designed. And tracking error and contour error are both reduced by the antedisplacement of compensation of contour error; in the end, the performance of the cross coupling controller is verified by simulation. It turns out that the designed fuzzy cross coupling controller has high accuracy and strong robustness.