Title: Simulation research on trajectory tracking control system of manipulator based on fuzzy PID control

Authors: Ruyi Ma; Zeshen Li; Du Jiang; Juntong Yun; Ying Liu; Yibo Liu; Dongxu Bai; Gongfa Li

Addresses: Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Hubei, Wuhan, 430081, China; Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, 430081, Hubei, China; Research Centre for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan, 430081, China; Institute of Precision Manufacturing, Wuhan University of Science and Technology, Wuhan, 430081, China ' Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Hubei, Wuhan, 430081, China; Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, 430081, Hubei, China; Research Centre for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan, 430081, China; Institute of Precision Manufacturing, Wuhan University of Science and Technology, Wuhan, 430081, China ' Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Hubei, Wuhan, 430081, China; Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, 430081, Hubei, China; Research Centre for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan, 430081, China; Institute of Precision Manufacturing, Wuhan University of Science and Technology, Wuhan, 430081, China ' Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Hubei, Wuhan, 430081, China; Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, 430081, Hubei, China; Research Centre for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan, 430081, China; Institute of Precision Manufacturing, Wuhan University of Science and Technology, Wuhan, 430081, China ' Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Hubei, Wuhan, 430081, China; Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, 430081, Hubei, China; Research Centre for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan, 430081, China; Institute of Precision Manufacturing, Wuhan University of Science and Technology, Wuhan, 430081, China ' Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Hubei, Wuhan, 430081, China; Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, 430081, Hubei, China; Research Centre for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan, 430081, China; Institute of Precision Manufacturing, Wuhan University of Science and Technology, Wuhan, 430081, China ' Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Hubei, Wuhan, 430081, China; Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, 430081, Hubei, China; Research Centre for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan, 430081, China; Institute of Precision Manufacturing, Wuhan University of Science and Technology, Wuhan, 430081, China ' Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Hubei, Wuhan, 430081, China; Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, 430081, Hubei, China; Research Centre for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan, 430081, China; Institute of Precision Manufacturing, Wuhan University of Science and Technology, Wuhan, 430081, China

Abstract: In view of the influence of external environment interference, parameter changing and random noise in the process of manipulator trajectory tracking, as well as the problems of fuzzy PID control, such as fuzzy rules are not easy to set, quantisation interval and parameters are affected by subjective consciousness, which leads to the problem of insufficient performance of manipulator system. In this paper, firstly, in the MATLAB simulation environment, based on the D-H parameter model, the linkage model of the four degree of freedom manipulator is established, and the homogeneous transformation matrix of the manipulator is calculated. Then, through the application of fuzzy PID control in the Simulink toolbox, the optimal parameters of the controller are found by using the proportion factor self-adjusting strategy, and the corresponding trajectory tracking and forward inverse kinematics simulation are studied. The trajectory tracking curve of the manipulator is obtained. The research method and experimental results in the paper are of great significance for the simulation of articulated manipulator.

Keywords: manipulator; trajectory tracking; fuzzy PID control; Simulink.

DOI: 10.1504/IJICA.2022.128434

International Journal of Innovative Computing and Applications, 2022 Vol.13 No.5/6, pp.269 - 277

Received: 30 Aug 2020
Accepted: 01 Oct 2020
Published online: 23 Jan 2023 *

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