Application of Self-adaptive Fuzzy Control in the MDJ Palletizer

摘要：

The MDJ120 robot palletizer researched and manufactured by the paper is used to transfer and palletize materials on the packing production line. The author analyses the dynamical features of the robot by the Second Lagrangian kinetics and sets up its inverse dynamical equations. To improve the performance of the system, a self-adaptive fuzzy PID control method is presented to study the dynamic characteristics of the robot, and the simulations have proved that the control method is efficient in trajectory tracking control of the MDJ120 palletizer.

作者: Ning Fengyan Wang Gang Yun Chao

作者单位: Beihang University Beijing, 100083, China Northeast University at Qinhuangdao Qinhuangdao, 066004, China

会议类型: 国际会议

会议名称: International Conference on Intelligent Computation Technology and Automation(2008 智能计算技术与自动化国际会议 ICICTA 2008)

会议地点: 长沙

会议语种:英文

页码: 859-863

在线出版日期: 2008-10-20（万方平台首次上网日期，不代表论文的发表时间）