Research on the Driving and Control of an Intelligent Book Robot

Abstract

Based on the theoretical foundation provided by kinematic simulations under various parameter conditions using Adams for robots' control, this paper designs a dual-closed-loop drive control system for the robot. It constructs the drive speed control hardware circuit and simulates the step response of positional PID, incremental PID, and fuzzy PID in Simulink. Positional PID is selected as the velocity control algorithm due to its fast response characteristics and ease of implementation. The drive circuit and control algorithm are jointly simulated using Proteus to verify the speed control effect of the robot's drive.