| With the development of science and technology,the traditional control methods are not able to meet the requirements of industrial control accuracy.However,with the improvement of the corresponding technology theory and the mature,advanced robot control to the controller processing capacity of the requirements gradually being met,the support of the software and hardware technology makes the study of robot dynamic control can be realized as a reality.At the same time,it is also combined with the characteristics and requirements of robot control to study the applicability of various new computer architecture,such as pipelining,multi processor,and so on.In general,the intelligent control method of advanced robot has already been possessed,and it is important to study the new algorithm and implement method.In this paper,the mathematical model of the welding manipulator is introduced.Kinematics and dynamics are analyzed from two angles.The kinematic equations are established by D-H method.The Lagrange equation is established by the relevant calculation.Then,the traditional control method(the PID control algorithm)of the manipulator is analyzed,and its advantages and limitations are also discussed.Then the model error of the dynamic model is studied,the neural network control method of the manipulator is studied?The realization of the algorithm is studied,and its stability is analyzed.At last,the fuzzy adaptive control method of the manipulator is studied.The design and implementation of the algorithm are discussed.Through the simulation experiment of Matlab/Simulink,the traditional control method of the robot arm can realize the tracking of the trajectory.But the error is bigger.After taking into account the factor of the modeling error,the neural network algorithm has obviously improved the tracking error.Fuzzy control algorithm relative to the traditional PID control,track the effect is very ideal,the basic realization of the trajectory tracking. |
PDF Full Text Request