Abstract
Abstract
Through the research on the synchronization of the cooperative trajectory of dual industrial robots, this paper analyses the characteristics of master-slave control and distributed control, and puts forward a fuzzy adaptive PID control method suitable for the cooperative scene of dual industrial robots, which can dynamically adjust the parameters of PID control online and adapt the dynamic system of industrial robots in real time. Taking two same 6-DOF ABB industrial robots as examples, common PID controller and fuzzy PID controller are compared and simulated under master-slave control mode and distributed control mode respectively. The simulation results verified that the fuzzy adaptive PID control method is effective, and the distributed control mode has more applicability and expansibility than the master-slave control mode.
Subject
General Physics and Astronomy
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