Abstract
The MJR120 palletizer is researched and manufactured by the paper. Using the Second Lagrangian kinetics, the author analyses the dynamical features of the robot, derives the generated driving torque of the arms, and sets up its inverse dynamical equations. To improve its performance of the system, a new controller is designed with a self-adaptive fuzzy PID control algorithm, which makes use of the merits both of the fuzzy control and the self-adaptive control algorithm. The effectiveness of the proposed control method is verified by simulation based on Matlab. The controller has better performance and robustness than the conventional PID controller in the Palletizer system.
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