A three-degree-of-freedom parallel robot acceleration feedforward controller parameter fuzzy adaptive adjustment method
By constructing an equivalent load inertia contour plot and a fuzzy membership function, and combining it with a fuzzy system, online estimation of the robot's load inertia and adaptive adjustment of the acceleration feedforward controller parameters were achieved. This solved the control accuracy problem caused by the nonlinear time-varying characteristics of the load inertia, and improved the accuracy and stability of the robot's motion control.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- TIANJIN UNIVERSITY OF TECHNOLOGY
- Filing Date
- 2026-05-22
- Publication Date
- 2026-07-17
AI Technical Summary
Existing industrial robot accelerometer feedforward controllers struggle to achieve high-speed, high-precision full-domain control when faced with the nonlinear time-varying characteristics of load inertia and external disturbances. Furthermore, existing methods are complex and cannot perform real-time online calculations.
A fuzzy adaptive adjustment method is adopted. By constructing an equivalent load inertia contour map and a rounded triangle membership function, and combining a single-input single-output type I fuzzy system and an interval type II fuzzy system, the online estimation of the robot's equivalent load inertia and the adaptive adjustment of the acceleration feedforward controller parameters are realized.
It achieves high-precision motion control of the robot in the workspace, simplifies the algorithm, reduces hardware resource consumption, adapts to changes in load inertia, and improves control accuracy and stability.
Smart Images
Figure CN122401412A_ABST