Research on Adaptive Control System of Robot Arm with Six Degrees of Freedom

Abstract

Abstract. This paper aims to exploit the adaptive control robot arm with six degrees of freedom, an adaptive fuzzy control system was established. a fuzzy controller, the robot arm trajectory planning and the D-H algorithm were studied based on the fuzzy controller. Firstly, fuzzy controller and control rules are designed according to a series of characteristics of fuzzy control method. Then, based on the analysis of robot arm parameters, robot arm trajectory plan by the D-H algorithm. Finally, Hardware and software design and experiment were complete. Experimental results show that the D-H algorithm can be used to establish the model of the robot arm, and the MATLAB can be used to understand the data processing. The stability of adaptive control of robot arm with 6 degrees of freedom is good, the expansibility is strong, easy to control and so on.

Robotic Arm Position Control using Mamdani Fuzzy Logic on Arduino Microcontroller

“…Fuzzy logic can also be used for adaptive control by planning the robot arm's trajectory using the Denavit-Hartenberg (D-H) method. A 6-DOF robotic arm is used to validate the adaptive control design [15]. The hardware and software were designed, and the experimental results show that the D-H method can be used to determine the model of the robot arm and that MATLAB can be utilized to comprehend the processed data.…”