Abstract:

In the robot modular joint trajectory tracking control system, traditional Proportion-integral-derivative (PID) algorithm is easy to be influenced by many kinds of disturbances. By using Fuzzy adaptive method, PID parameter online auto-tuning is realized based on the Digital Signal Processor (DSP) control system. The experiment results demonstrate that the method of Fuzzy adaptive servo control scheme, compared with conventional PID algorithm, will improve system’s properties and anti-disturbance abilities. Applications in modular joint servo control systems verify the effectiveness.

Key words: Proportion-integral-derivative, adaptive fuzzy system, modular joint, trajectory tracking