Application of Self-Adaptive Fuzzy Control in the MDJ Palletizer

Author

Fengyan, Ning ; Gang, Wang ; Chao, Yun

Author_Institution

Beihang Univ., Beijing

Volume

1

fYear

2008

fDate

20-22 Oct. 2008

Firstpage

859

Lastpage

863

Abstract

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.

Keywords

adaptive control; fuzzy control; palletising; robot dynamics; three-term control; MDJ120 robot palletizer; inverse dynamical equation; palletize material; second Lagrangian kinetics; self-adaptive fuzzy PID control method; trajectory tracking control; Equations; Fuzzy control; Fuzzy systems; Kinetic theory; Lagrangian functions; Production; Pulp manufacturing; Robots; Three-term control; Trajectory; dynamical equations; palletizer; self-adaptive fuzzy PID control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Computation Technology and Automation (ICICTA), 2008 International Conference on

Conference_Location

Hunan

Print_ISBN

978-0-7695-3357-5

Type

conf

DOI

10.1109/ICICTA.2008.393

Filename

4659609