Abstract
Mechatronics production line is widely used in the production and operation of all walks of life, which greatly reduces the amount of labor of employees, improves the production level of enterprises, and creates great social and economic benefits for enterprises. The traditional manipulator system has modeling uncertainty and is vulnerable to external interference. In this paper, a compound control scheme is designed by combining the torque controller and fuzzy compensator, which effectively improves the system's response speed and greatly reduces the steady-state tracking error of the system. At the same time, the tracking process of the scheme is stable and flexible, and the chattering is minimal, which effectively improves the trajectory tracking performance of the system. Experiments show that the algorithm effectively solves the contradiction between computational complexity and control accuracy, improves the system's response speed, and reduces the system's steady-state tracking error.
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