Research on Industrial Robot Trajectory Tracking Control System based on PID Feedforward Algorithm

Abstract

In the design process of industrial robots, multi-input and multi-output control algorithms are usually required for nonlinear systems. This kind of control system has time-varying characteristics, and its dynamic characteristics have nonlinear problems, so it is very difficult to design. However, the dynamic control process of the robot is very complex, and the trajectory tracking control system needs to be redesigned to ensure that the control system can effectively track the acceleration and speed characteristics of the robot. Therefore, this paper studies the tracking control algorithm for the motion trajectory of the industrial robot. The research process mainly includes the analysis of the motion trajectory of the industrial robot. On this basis, the simulation is used to simplify the model and design the control system, and the PID and the feedforward algorithm are used to compensate and adjust the control system to improve the accuracy of its control tracking. In addition, this paper optimizes the PID algorithm, uses a fuzzy algorithm, and reaches law to improve the accuracy and quality of the control algorithm. Optimizing the trajectory tracking algorithm's response time and tracking accuracy is achieved.