A Control Method of Delta Robot Based on Fuzzy Set Theory

Abstract

The invention discloses a Delta robot control method based on fuzzy set theory. First, the dynamic model of the robot is established, and a nonlinear friction model representing the friction phenomenon of the robot joint is selected; According to the nominal item in the robot dynamics model, the nominal compensation link in the controller is established; the control link in the controller is designed by taking a positive definite diagonal matrix to compensate the initial position error; For the items related to certainty, construct and verify the function representing the upper bound information of the uncertain items of the system; design the secondary performance index based on the described uncertainty information, and use D-operation and fuzzy operation to solve the optimal control parameters; the optimized The control parameters are brought into the uncertain control items to obtain the final optimal control output. By optimizing the secondary performance index, the optimal control gain is obtained, which is suitable for the optimal control when there are uncertain factors in the system.

Description

technical field [0001] The invention belongs to the field of motion control of parallel robots, in particular to a Delta robot control method based on fuzzy set theory. Background technique [0002] As one of the most successful parallel mechanisms at present, the Delta robot has 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 load, external disturbance, and residual vibration caused by the action of light materials. The information of these nonlinear parameters cannot be determined accurately, which increases the difficulty of control. Therefore, the problem of uncertain control including non...

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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