Intelligent control method of end effector of food sorting robot based on improved inversion control

Authors

WEI Shu-cheng, Guangxi Electromechanical Vocational and Technical College, Nanning, Guangxi 530007 , China
MO Guo-zhi, Guangxi University, Nanning, Guangxi 530000 , China

Abstract

Objective: Solve the problems of poor positioning accuracy and low efficiency of end effectors in the sorting process of parallel food sorting robots. Methods: An intelligent control of the end-effector of a parallel food sorting robot combining fuzzy system, fuzzy neural network and inverse control algorithm was proposed. The modeling information was approximated by the fuzzy system, the unmodeled information was approximated and predicted by the fuzzy neural network, and the inversion control completed the control output. Finally, the experimental verification is carried out. Results: Compared with the traditional control method, the proposed control method had good tracking accuracy and control efficiency of the end effector, the error of the end effector was less than 0.3 mm, and the sorting efficiency reached1.99s-1.Conclusion: This control method can achieve accurate, efficient and stable position tracking.

Publication Date

12-28-2022

First Page

73

Last Page

78

DOI

10.13652/j.spjx.1003.5788.2022.60073

Recommended Citation

Shu-cheng, WEI and Guo-zhi, MO (2022) "Intelligent control method of end effector of food sorting robot based on improved inversion control," Food and Machinery: Vol. 38: Iss. 12, Article 13.
DOI: 10.13652/j.spjx.1003.5788.2022.60073
Available at: https://www.ifoodmm.cn/journal/vol38/iss12/13

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