Dynamic Analysis and Control of the MJR Robot Palletizer

  • Authors:

  • Fengyan Ning;Chao Yun;Xinyi Chen

  • Affiliations:

  • School of Mechanical Engineering and Automation, Beihang University, Beijing, P.R. China 100083;School of Mechanical Engineering and Automation, Beihang University, Beijing, P.R. China 100083;School of Mechanical Engineering and Automation, Beihang University, Beijing, P.R. China 100083

  • Venue:
  • ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part II
  • Year:
  • 2008

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Abstract

The MJR120 palletizer is researched and manufactured by the paper. Using the Second Lagrangian kinetics, the author analyses the dynamical features of the robot, derives the generated driving torque of the arms, and sets up its inverse dynamical equations. To improve its performance of the system, a new controller is designed with a self-adaptive fuzzy PID control algorithm, which makes use of the merits both of the fuzzy control and the self-adaptive control algorithm. The effectiveness of the proposed control method is verified by simulation based on Matlab. The controller has better performance and robustness than the conventional PID controller in the Palletizer system.