End Effector Control System of 6R Manipulator Based on Fuzzy PID

Abstract

The front three axes of a traditional 6R manipulator move and the back three axes rotate. Given that it is directly connected with the end effector to work and there are some factors such as motor weight, inertia, and material, the end of the manipulator is designed as a system with springs and dampers, so as to improve the stability of the manipulator, reduce errors, and improve production efficiency. Conventional PID control often determines the proportional, integral, and differential effects through simulation, which can not well control the 6R manipulator system in a nonlinear and time-variant state. In order to control the system better, in addition to designing a fuzzy PID control system by making relevant membership functions and fuzzy rules, this paper simulates the end effector of the 6R manipulator by Simulink. The simulation results show that compared with conventional PID, fuzzy PID has better indexes in rapidity, stability, accuracy, and adaptability. The end effector control system of the 6R manipulator based on fuzzy PID is more stable and accurate than the ordinary 6R manipulator.