Research on robotic end positioning based on fuzzy PID control

摘要

Abstract The existing traditional proportional-integral-derivative (PID) control robot has low-end positioning accuracy, which cannot meet the needs of accurately placing the molding die in the current automatic coal pen production process. To address this problem, this paper proposes a fuzzy strategy PID control method based on fuzzy strategy, aiming to improve the accuracy and robustness of the system when the manipulator grasps the mounding mold. Firstly, a manipulator motor control model is established to derive the parameters of the manipulator control system; secondly, the fuzzy control strategy is applied to adjust the PID control parameters in real time to improve the dynamic stability of the system. Finally, the control system is simulated, and field experiments are conducted to verify the accuracy of robotic end positioning. The experimental results show that the fuzzy PID control system has a shorter response time, better anti-interference ability, and better stability than the traditional PID control and achieves the accuracy requirements of coal pen automation production.