Designing and implement of intelligent controller in manipulator position control

摘要

Robot is already applied in machinery manufacture factory broadly. by the JJR-1 Teaching Robot, the application of intelligent controller was descrambled in manipulator. The parameters for the arm of JJR-1 was calculated and tested, after the math-model of the arm obtained, a method was put forward that using the intelligent fuzzy controller of adopts self-adjustable variable to overcome the phenomenon of dead-zone, over-control, and improve the location accuracy. Simulation demonstrated that the method can reduce the overflow of system output and improve the speed of reaching stability state in system.