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23 November 2022 Optimization of the executive system of the picking robot based on fuzzy control algorithm
Zhong Ren, Tieshan Zhang
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Proceedings Volume 12454, International Symposium on Robotics, Artificial Intelligence, and Information Engineering (RAIIE 2022); 1245414 (2022) https://doi.org/10.1117/12.2659093
Event: International Symposium on Robotics, Artificial Intelligence, and Information Engineering (RAIIE 2022), 2022, Hohhot, China
Abstract
In order to further improve the comprehensive picking efficiency of picking robot in China and reduce the labor intensity of manual work, the optimization research on the execution system of current picking robot was carried. Taking the working control principle of picking robot as the breakthrough point, the fuzzy control algorithm was selected as the optimization core. On the basis of reasonable allocation of weights, the fuzzy control algorithm model of the picking execution system was built according to the characteristics of picking operation. Then an executable fuzzy control system was formed through the hardware configuration and software design, and the optimization experiment was carried out. The conclusion showed that the trajectory tracking accuracy and average obstacle avoidance accuracy of the system could be maintained above 96%, the picking success rate and comprehensive efficiency of the whole machine were improved by 9.25% and 8.94% respectively, and the system had stable operation and strong advantages, which would not only realize high-efficiency intelligent picking, but also provide reference value for similar picking or harvesting machinery equipment optimization, it would be worthy of promotion.
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Zhong Ren and Tieshan Zhang "Optimization of the executive system of the picking robot based on fuzzy control algorithm", Proc. SPIE 12454, International Symposium on Robotics, Artificial Intelligence, and Information Engineering (RAIIE 2022), 1245414 (23 November 2022); https://doi.org/10.1117/12.2659093
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KEYWORDS
Control systems
Optimization (mathematics)
Robotic systems
Detection and tracking algorithms
Fuzzy systems
Control systems design
Sensors
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