Study on the Motion Control System of the Triphibian Robot based on Fuzzy PID Control

摘要

There is a growing need for triphibian robots in a complex research and exploration environment. In order to improve the flexibility of all-terrain robot movement, improve their ability of fast response, make its can be applied to complex domains such as reconnaissance, surveillance and communication, In this paper, the kinematics and dynamics models of the robot are first established, and for the design of new triphibian robot, proposed a triphibian robot motion control system based on fuzzy PID control. Finally, through the simulation experiment, its rapid response ability to the change of displacement and Angle is tested, which shows that the motion control system has a good adaptability to the new three-perch robot, and verifies the effectiveness and feasibility of the designed control system.