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

• DOI: 10.1504/ijica.2022.128434
• Publication Date: 2023-01-24T12:31:14Z
• Authors: Ruyi Ma; Zeshen Li; Du Jiang; Juntong Yun; Ying Liu; Yibo Liu; Dongxu Bai; Gongfa Li

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