Self-tuning fuzzy PID control of grasping force of rope driven manipulator

Abstract

A self-tuning fuzzy PID grab force control algorithm was designed to solve the problems of linear elastic deformation and reduced grab force of rope driven robot hand, which easily causes shake and slip of grab target. Firstly, the mathematical models of rope driven manipulator and DC motor based on force control were established, and the order of the control system model was reduced by Padé algorithm. Secondly, the fuzzy technology was combined with PID control, and a self-tuning fuzzy PID controller was designed through the fuzzy control toolbox of Matlab. Finally, the simulation models of PID control, fuzzy control and self-tuning fuzzy PID control were established by using Simulink environment, and the grasping force control simulation of different algorithms was realized. The simulation results show that the algorithm can make the system reach a stable state within 0.5 s, and the steady-state error is less than 0.5%. When the rope rebounds, it can compensate the grasping force within 0.3 s, and has good dynamic performance, which meets the requirements of stable grasping of the target.

Keywords

• ropedriven manipulator
• direct current motor
• padé reduction
• self-tuning fuzzy pid
• simulink simulation