Delta robot control method based on fuzzy set theory

Abstract

The invention discloses a Delta robot control method based on a fuzzy set theory. The method comprises the following steps of firstly, establishing a robot dynamic model, and selecting a nonlinear friction force model representing a joint friction phenomenon of a robot; separating out uncertain terms in the robot dynamics model, and establishing a nominal compensation link in a controller according to nominal terms in the robot dynamics model; taking a control link in a positive definite diagonal matrix design controller to compensate an initial position error; according to items related to uncertainty in the robot dynamics model, constructing a function representing upper bound information of uncertain items of the system and verifying the function; designing a secondary performance indexbased on the described uncertainty information, and solving an optimal control parameter by using D-operation and fuzzy operation; and bringing the optimized control parameters into the uncertainty control items to obtain final optimized control output, and obtaining optimal control gain by optimizing the secondary performance index, so that the method is suitable for optimal control when uncertainty factors exist in the system.

Description

technical field [0001] The invention belongs to the field of parallel robot motion control, and in particular relates to a Delta robot control method based on fuzzy set theory. Background technique [0002] As one of the most successful parallel mechanisms, Delta robots have been widely used in many complex fields such as microelectronics, medicine, intelligent logistics, and 3D printing. It not only inherits all the advantages of traditional parallel robots, but also has the characteristics of light weight, fast movement speed, high efficiency and large payload. It is worth noting that there are many nonlinear factors in the working process of the Delta robot, such as joint nonlinear friction, random loads, external disturbances, and residual vibration caused by the action of lightweight materials. The information of these nonlinear parameters cannot be accurately determined, which increases the difficulty of control. Therefore, uncertainty control problems including nonl...

AI Technical Summary

Problems solved by technology

However, at present, most researchers focus on the logic strategy based on IF-THEN rules, which makes the designed controllers lack of systematicness. This kind of control method requires high experience of designers through expert systems, and needs to be targeted at special applications. system for design

Moreover, this type of method is generally used for logical reasoning, and cannot accurately obtain the uncertainty of the system.

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