Abstract
Joint control is the basis for welding robot to complete task space trajectory tracking, and the precision of joint control is directly related to the motion performance and precision of the robot. For the coherent and non- linear dynamic characteristics of welding robot, we use fuzzy logic to dynamically adjust the controller parameters, to improve the performance of trajectory tracking control. And then we set up the fuzzy rules to adjust the PID parameters according to the trajectory tracking error and the error change rate, and obtain the optimal initial PID parameters by optimal algorithm at the beginning of the trajectory tracking. In the trajectory tracking process, the PID parameter increment calculated by fuzzy controller is superimposed on the initial PID parameter, so that dynamically optimize joint controller parameters. The study shows that, application of dynamic fuzzy PID control can bring better single-joint step response performance and multi-joint linkage trajectory tracking performance than mere PID control.
