{"title":"多关节机械臂模糊PID控制","authors":"Jialin Lin, Xiaoxu Liu, Z. Ren","doi":"10.1109/INDIN51773.2022.9976122","DOIUrl":null,"url":null,"abstract":"This paper studies the experimental control of multi-joint robotic arm (Geomagi Touch haptic device) via a fuzzy PID controller. First, the system of Geomagi Touch haptic device is introduced, and the hardware-in-loop control scheme is established through Matlab Simulink. Then, fuzzy logic is utilized to update PID controller gains, where the parameters can be updated adaptively such that the performance of multiply joints can be optimized. Finally the effectiveness of the presented fuzzy controller is validated through real experiment.","PeriodicalId":359190,"journal":{"name":"2022 IEEE 20th International Conference on Industrial Informatics (INDIN)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2022-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Fuzzy PID Control for Multi-joint Robotic Arm\",\"authors\":\"Jialin Lin, Xiaoxu Liu, Z. Ren\",\"doi\":\"10.1109/INDIN51773.2022.9976122\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper studies the experimental control of multi-joint robotic arm (Geomagi Touch haptic device) via a fuzzy PID controller. First, the system of Geomagi Touch haptic device is introduced, and the hardware-in-loop control scheme is established through Matlab Simulink. Then, fuzzy logic is utilized to update PID controller gains, where the parameters can be updated adaptively such that the performance of multiply joints can be optimized. Finally the effectiveness of the presented fuzzy controller is validated through real experiment.\",\"PeriodicalId\":359190,\"journal\":{\"name\":\"2022 IEEE 20th International Conference on Industrial Informatics (INDIN)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-07-25\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2022 IEEE 20th International Conference on Industrial Informatics (INDIN)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/INDIN51773.2022.9976122\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 IEEE 20th International Conference on Industrial Informatics (INDIN)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/INDIN51773.2022.9976122","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
This paper studies the experimental control of multi-joint robotic arm (Geomagi Touch haptic device) via a fuzzy PID controller. First, the system of Geomagi Touch haptic device is introduced, and the hardware-in-loop control scheme is established through Matlab Simulink. Then, fuzzy logic is utilized to update PID controller gains, where the parameters can be updated adaptively such that the performance of multiply joints can be optimized. Finally the effectiveness of the presented fuzzy controller is validated through real experiment.
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