国产欧美精品一区二区,中文字幕专区在线亚洲,国产精品美女网站在线观看,艾秋果冻传媒2021精品,在线免费一区二区,久久久久久青草大香综合精品,日韩美aaa特级毛片,欧美成人精品午夜免费影视

Aiming at the unstable center of gravity of the suspended manipulator under the influence of the hoisting load during the working process, with the support of the fuzzy PID control algorithm, the design and study of the gravity compensation control system of the suspended manipulator is carried out. In terms of hardware, the main controller, sensors and communication modules are modified, and gravity compensation devices and drive motor equipment are added. On this basis, the software design is completed, and the mathematical model of the suspended manipulator is constructed according to the composition and working principle of the manipulator. Under this model, the real-time pose of the suspended manipulator is detected, and the corresponding gravity balance equation is established for different poses. Calculate the load moment of the manipulator, use the fuzzy PID algorithm to solve the control amount of the manipulator gravity compensation, and realize the gravity compensation control function of the suspended manipulator. The experimental results show that compared with the traditional gravity compensation control system, the control error of the optimal design system is reduced by 0.056kN, and the stability coefficient of the manipulator is increased by 0.14, that is, the optimal design system can improve the compensation control effect and has certain application value.