Design of Industrial Robot Based on IWOA-PID Control

摘要

Abstract Aiming at the nonlinear strong coupling system composed of the joints of 6-axis industrial robot, the traditional PID control is difficult to achieve the accuracy and convergence speed requirements of robot trajectory tracking, an intelligent control method based on IWOA-PID (Improved Whale Optimization Algorithm-PID) is proposed. IWOA is an improved intelligent heuristic algorithm based on the Whale Optimization Algorithm (WOA). Using IWOA to dynamically adjust PID control parameters, so as to improve the accuracy and convergence speed of robot trajectory tracking. Using MATLAB toolbox and Simulink to build simulation model. In the simulation experiment and field test, IWOA-PID control is compared with WOA-PID control and traditional PID control. The experimental results show that the trajectory tracking accuracy of each joint is high and the convergence speed is fast based on IWOA-PID control, and it has high engineering practical value.