Fuzzy PID control method of deburring industrial robots

doi:10.3233/IFS-151945

CORC > 重庆绿色智能技术研究院 > 中国科学院重庆绿色智能技术研究院 > 机器人与3D打印技术创新中心

	Fuzzy PID control method of deburring industrial robots
	Tao, Yong 1; Zheng, Jiaqi 2; Lin, Yuanchang 3; Wang, Tianmiao 1; Xiong, Hegen 2; He, Guotian3 ; Xu, Dong 1
刊名	JOURNAL OF INTELLIGENT & FUZZY SYSTEMS
	2015
卷号	29 期号:6 页码:2447-2455
关键词	Fuzzy PID controller robot trajectory joint angular deburring industrial robot
ISSN号	1064-1246
DOI	10.3233/IFS-151945
通讯作者	Tao, Y (reprint author), Beihang Univ, 37 Xueyuan Rd, Beijing 100191, Peoples R China.
英文摘要	This paper proposes a fuzzy PID control method for deburring industrial robots. The adaptive fuzzy PID controller relates to the trajectory and joint angular parameters of the end-effector on a robot. The PID controller parameters update online at each sampling time to guarantee trajectory accuracy of the end-effector. The simulation of the fuzzy PID control is provided based on the 6-DOF deburring industrial robot. Experimental results demonstrate the efficiency of the fuzzy PID control method.
URL标识	查看原文
资助项目	National Natural Science Foundation[61305116] ; Major Science and Technology Projects of Chongqing Robot Industry[cstc2013jcsf-zdzxqqX0005]
WOS研究方向	Computer Science
语种	英语
出版者	IOS PRESS
WOS记录号	WOS:000366674200017
内容类型	期刊论文
源URL	[http://119.78.100.138/handle/2HOD01W0/2096]
专题	机器人与3D打印技术创新中心
通讯作者	Tao, Yong
作者单位	1.Beihang Univ, Beijing 100191, Peoples R China 2.Wuhan Univ Sci & Technol, Wuhan, Peoples R China 3.Chinese Acad Sci, Chongqing Inst Green & Intelligent Technol, Chongqing, Peoples R China
推荐引用方式 GB/T 7714	Tao, Yong,Zheng, Jiaqi,Lin, Yuanchang,et al. Fuzzy PID control method of deburring industrial robots[J]. JOURNAL OF INTELLIGENT & FUZZY SYSTEMS,2015,29(6):2447-2455.
APA	Tao, Yong.,Zheng, Jiaqi.,Lin, Yuanchang.,Wang, Tianmiao.,Xiong, Hegen.,...&Xu, Dong.(2015).Fuzzy PID control method of deburring industrial robots.JOURNAL OF INTELLIGENT & FUZZY SYSTEMS,29(6),2447-2455.
MLA	Tao, Yong,et al."Fuzzy PID control method of deburring industrial robots".JOURNAL OF INTELLIGENT & FUZZY SYSTEMS 29.6(2015):2447-2455.