Abstract
The palletizing robot and palletizing system were investigated, and the method of the relative work model was established. The description of both positive and negative kinematics was also established, and the dynamic characteristics were analyzed by Lagrange dynamics. Moreover, an adaptive fuzzy PID control method was proposed to study the dynamic characteristics of the robot. Thereafter, the motion control and adaptive fuzzy control algorithms were simulated, and this controller showed better performance.
Publication Date
3-28-2020
First Page
119
Last Page
123
DOI
10.13652/j.issn.1003-5788.2020.03.023
Recommended Citation
Guang, LIU; Hua, WEN; and Ying, LIANG
(2020)
"Application of motion control and adaptive fuzzy control in palletizing robot,"
Food and Machinery: Vol. 36:
Iss.
3, Article 23.
DOI: 10.13652/j.issn.1003-5788.2020.03.023
Available at:
https://www.ifoodmm.cn/journal/vol36/iss3/23
References
[1] 安嘉强,汤晓华,吴婧,等.奶油蛋糕远程3D打印机器人数控协同机电系统设计[J].食品与机械,2019,35(5):54-59.
[2] 周根荣,姜平,钟永彦.码垛机器人运动学分析和控制系统设计[J].计算机测量与控制,2016,24(1):81-84.
[3] 马志德,孙会来,李亚东,等.基于Matlab-SimMechanics的MJR混联码垛机器人运动建模及仿真研究[J].制造业自动化,2013(14):88-90.
[4] 应万明,张壮.水平多关节型码垛机器人结构设计[J].科技创新导报,2017(24):108-110.
[5] 杨世明,马庆国,郭翠敏.一种新型烹饪并联机器人位置与工作空间分析[J].食品与机械,2018,34(11):96-100,125.
[6] 孙俊,须文波.一种基于遗传算法的分布式系统的任务调度[J].计算机工程与应用,2003,39(21):105-106.
[7] 李霄,俞经虎,钱善华,等.微型胶囊在模拟肠道中的受力模型及流固耦合仿真[J].食品与机械,2019,35(2):7-10.
[8] 薛晔,于海生,吴贺荣.柔性关节机器人的模糊反步自适应位置控制[J].青岛大学学报:工程技术版,2019(2):56-62.
[9] 马俊涛,陈业恩,胡国杰,等.云计算环境下基于遗传算法的任务调度技术研究[J].软件导刊,2016,15(1):51-53.
[10] 孙志峻,潘全科,朱剑英.基于遗传算法的多资源作业车间智能优化调度[J].中国机械工程,2002,13(24):2 104-2 107.
[11] 段勇,王宇,喻祥尤.基于免疫遗传算法的多机器人环境探索[J].沈阳工业大学学报,2018,40(3):62-66.
[12] 周友行,何清华,谢习华.基于遗传算法的凿岩机器人孔序规划[J].机器人,2002,24(1):62-65.
[13] 杨煜俊,龙传泽,陶宇.作业车间类型多机器人制造单元调度算法[J].计算机集成制造系统,2015,21(12):3 239-3 248.