Abstract
Symmetries play very important in the dynamics of robot systems. The relevant control of robot arm motion with fault diagnosis including the optimized fuzzy algorithm based on the error rate adjustment P, I, D value (Fuzzy PID algorithm) model relies on symmetry principles. A robot is a kind of mechanical device that can program and perform certain operations and mobile tasks under automatic control. The manipulator is a very complex multi-input multi-output non-linear system and the main actuator of the robot. This paper focuses on the design of a control algorithm for a two-degree-of-freedom (2-DOF) manipulator. First, the mathematical model of a 2-DOF articulated manipulator is established, that is, the functional relationship between the input driving force vector and the output rotation angle vector of a 2-DOF manipulator. Then, a set of trajectory planning algorithms are designed by using gradient model control, which can calculate the trajectory of the end-effector of a 2-DOF manipulator according to the user’s task requirements. The experimental results verify the effectiveness of the proposed algorithm.
Highlights
A robot is a machine capable of carrying out certain operations and moving tasks automatically [1].As the main actuator of the robot, the robot arm has attracted great attention from engineers and technicians
The comparison in above figures shows that: (1) for the output of the control system, it will only be affected by the output interference; (2) the three external error will interfere with the output of the controller Gc (s), and the output will have an additive effect; (3) Kp, Ki, Kd all have no effect on the second disturbance, and the trajectory tracking algorithm has no great relationship with the disturbance of the output of the controller; (4) even if one disturbance in the second or third one is positive and the other is negative, the reflection of both disturbances caused by u, Ki, Kd is positive and the other reflections are negative
Through the comprehensive study of thethat: robot control system, the control the be affected by the output interference; (2)
Summary
A robot is a machine capable of carrying out certain operations and moving tasks automatically [1]. As the main actuator of the robot, the robot arm has attracted great attention from engineers and technicians. A robot arm system mainly includes four parts: mechanical, hardware, software, and algorithms. When it comes to specific design, these parts need to consider structural design, control system design, kinematics analysis, dynamics analysis, trajectory planning research, path planning research, and kinematics dynamics simulation [4]. In the actual production, there is an urgent need for a mobile robot that has great working capacity and flexibility in various complicated environments and tasks. Due to these advantages, there are increasing studies on them. 2-DOF robot arm can be obtained according to the user’s job task requirements
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