Single-connecting-rod manipulator fuzzy control algorithm based on stochastic system under output limitation and input time lag

Abstract

The invention discloses a single-connecting-rod manipulator fuzzy control algorithm based on a stochastic system under output limitation and input time lag. The single-connecting-rod manipulator fuzzycontrol algorithm is composed of a fuzzy self-adaptive controller, a visual sensor, a mechanical arm control armature and a tail end dexterous hand. According to the single-connecting-rod manipulatorfuzzy control algorithm, a fuzzy logic system is utilized, the fuzzy adaptive controller is designed for a manipulator system model with random disturbance and high nonlinearity, and a correspondingadaptive algorithm is designed, so that a reference signal and an operation target can still be accurately tracked under the conditions that the input delay and the output signal of the controller arelimited and various torque random disturbances occur during network control.

Description

technical field [0001] The invention designs a fuzzy control algorithm for a single-link manipulator based on a stochastic system under limited output and input time lag, and belongs to the technical field of manipulator structure and control Background technique [0002] Nowadays, with the rapid development of science and technology, robot technology is slowly emerging. With its wide application range, high flexibility and ability to work in extreme environments, it has become one of the indispensable technical fields for the progress and development of human society. . In related technologies, manipulators are widely used in machinery manufacturing, aerospace, medicine, atomic energy and other fields, and play a vital role in automated production. During the force-bearing movement of the manipulator, it interacts with the external environment and completes specified tasks through contact, such as grinding, drilling, polishing, and grasping. In the force movement, the man...

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Problems solved by technology

[0005] In view of this, the present invention proposes a kind of fuzzy controller based on stochastic system design, by introducing Pade approximation technology and nonlinear transformation to solve the problem of robot system console input delay and output limitation, and design self-adaptive The algorithm, combined with the designed fuzzy controller, solves the problem of self-regulation when the manipulator system suffers from input delay and output limitation and random torque disturbance, thereby improving control accuracy and production efficiency

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