부산대학교 도서관

To ensure the smoothness of hydraulic-robot’s motion and the control accuracy of the end effector trajectory for stacking, a fuzzy PID controller has been employed with the trajectory planning in joint space. Wherein, a trajectory planning algorithm combining quintic polynomial with trapezoidal velocity method is proposed to reduce the motion time. This algorithm ensures smooth angular velocity and acceleration, preventing impacts and vibrations during the robot’s operation. The transfer function of the hydraulic robot’s electro-hydraulic proportional control subsystem is established. And a fuzzy PID controller is designed to track the end effector’s motion trajectory. Simulation experiments demonstrate that the robot has fast motion response and small tracking errors of posture in Cartesian space. The feasibility and effectiveness of the optimization solution have been proved through comparing and analyzing the robot’s motion tracking results.