Research on Adaptive Control System of Robot Arm with Six Degrees of Freedom

DOI

10.2991/icsnce-16.2016.129How to use a DOI?

Keywords

Robot Arm with 6 Degrees of Freedom; Adaptive Control; Arduino Platform

Abstract

This paper aims to exploit the adaptive control robot arm with six degrees of freedom, an adaptive fuzzy control system was established. a fuzzy controller, the robot arm trajectory planning and the D-H algorithm were studied based on the fuzzy controller. Firstly, fuzzy controller and control rules are designed according to a series of characteristics of fuzzy control method. Then, based on the analysis of robot arm parameters, robot arm trajectory plan by the D-H algorithm. Finally, Hardware and software design and experiment were complete. Experimental results show that the D-H algorithm can be used to establish the model of the robot arm, and the MATLAB can be used to understand the data processing. the stability of adaptive control of robot arm with 6 degrees of freedom is good, the expansibility is strong, easy to control and so on.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Changgeng Yu
AU  - Sunyun Li
PY  - 2016/07
DA  - 2016/07
TI  - Research on Adaptive Control System of Robot Arm with Six Degrees of Freedom
BT  - Proceedings of the 2016 International Conference on Sensor Network and Computer Engineering
PB  - Atlantis Press
SP  - 666
EP  - 671
SN  - 2352-5401
UR  - https://doi.org/10.2991/icsnce-16.2016.129
DO  - 10.2991/icsnce-16.2016.129
ID  - Yu2016/07
ER  -