Title :
Application of Self-Adaptive Fuzzy Control in the MDJ Palletizer
Author :
Fengyan, Ning ; Gang, Wang ; Chao, Yun
Author_Institution :
Beihang Univ., Beijing
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;
Conference_Titel :
Intelligent Computation Technology and Automation (ICICTA), 2008 International Conference on
Conference_Location :
Hunan
Print_ISBN :
978-0-7695-3357-5
DOI :
10.1109/ICICTA.2008.393
