KMS Chongqing Institute of Green and Intelligent Technology, CAS
| Fuzzy PID control method of deburring industrial robots | |
Tao, Yong1 ; Zheng, Jiaqi2; Lin, Yuanchang3; Wang, Tianmiao1; Xiong, Hegen2; He, Guotian3 ; Xu, Dong1
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| 2015 | |
| 摘要 | This paper proposes a fuzzy PID control method for deburring industrial robots. The adaptive fuzzy PID controller relates to the trajectory and joint angular parameters of the end-effector on a robot. The PID controller parameters update online at each sampling time to guarantee trajectory accuracy of the end-effector. The simulation of the fuzzy PID control is provided based on the 6-DOF deburring industrial robot. Experimental results demonstrate the efficiency of the fuzzy PID control method. |
| 关键词 | Fuzzy PID controller robot trajectory joint angular deburring industrial robot |
| DOI | 10.3233/IFS-151945 |
| URL | 查看原文 |
| 发表期刊 | JOURNAL OF INTELLIGENT & FUZZY SYSTEMS
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| ISSN | 1064-1246 |
| 卷号 | 29期号:6页码:2447-2455 |
| 通讯作者 | Tao, Y (reprint author), Beihang Univ, 37 Xueyuan Rd, Beijing 100191, Peoples R China. |
| 收录类别 | SCI |
| WOS记录号 | WOS:000366674200017 |
| 语种 | 英语 |
