Vibration Suppression of Integrated Joint Servo System for Robots Based on Fuzzy Adaptive PID

Xiuwen Shan; Lixiang Sun; Yi Zhang; Hanpei Wei

doi:10.54097/gxang609

Authors

Xiuwen Shan
Lixiang Sun
Yi Zhang
Hanpei Wei

DOI:

https://doi.org/10.54097/gxang609

Keywords:

Intelligent Integrated Joint, Fuzzy Adaptive PID, Vibration Suppression

Abstract

Due to the limitation of working environment, the underground power grid detection robot needs to ensure a very low failure rate. The vibration of the robot will lead to poor positioning accuracy and short service life of core components. Considering that the robot is a multi-variable and multi-coupling nonlinear system, its vibration is mainly reflected in the speed fluctuation of the robot servo motor. The change of the working attitude and position of the robot will lead to the sudden change of torque and moment of inertia, which is not conducive to the smoothness of speed control. In order to solve this problem, this paper studies the intelligent integrated joint of robot, investigates the mechanism of robot vibration, proposes the intelligent control strategy of fuzzy adaptive PID control, suppresses the vibration of integrated joint servo system, and compares it with the traditional control strategy. Through the robot dynamic model, the moment of inertia of the robot is calculated online in real time, which is given as the input of the intelligent joint. The experimental research is carried out with the underground power grid detection robot as the test platform, which proves the practicability and effectiveness of the method proposed in this paper.

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References

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