Control of Robot Arm Motion Using Trapezoid Fuzzy Two-Degree-of-Freedom PID Algorithm

• Published in: Symmetry (Basel) Vol. 12; no. 4; p. 665
• Main Author: Bi, Meng
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 01.04.2020
• Subjects: Actuators; Algorithms; Automatic control; Cognition & reasoning; Control algorithms; Control theory; Controllers; Degrees of freedom; Design; Fault diagnosis; Fuzzy sets; Kinematics; Manipulators; Mathematical functions; Mathematical models; Mechanical devices; Neural networks; Nonlinear systems; Robot arms; Robot control; Robot dynamics; Robots; Simulation; Symmetry; Systems stability; Task complexity; Trajectory planning
• ISSN: 2073-8994; 2073-8994
• DOI: 10.3390/sym12040665

Symmetries play very important in the dynamics of robot systems. The relevant control of robot arm motion with fault diagnosis including the optimized fuzzy algorithm based on the error rate adjustment P, I, D value (Fuzzy PID algorithm) model relies on symmetry principles. A robot is a kind of mechanical device that can program and perform certain operations and mobile tasks under automatic control. The manipulator is a very complex multi-input multi-output non-linear system and the main actuator of the robot. This paper focuses on the design of a control algorithm for a two-degree-of-freedom (2-DOF) manipulator. First, the mathematical model of a 2-DOF articulated manipulator is established, that is, the functional relationship between the input driving force vector and the output rotation angle vector of a 2-DOF manipulator. Then, a set of trajectory planning algorithms are designed by using gradient model control, which can calculate the trajectory of the end-effector of a 2-DOF manipulator according to the user’s task requirements. The experimental results verify the effectiveness of the proposed algorithm.