Simulation Research on Fuzzy PID Control Based on Grey Forecast for Foot-end Trajectory Tracking of Walking Robot

摘要

The paper presents a fuzzy PID control algorithm based on grey forecast used to study foot-end's trajectory tracking of walking robot. Taking single-led mechanism of six-legged walking robot as study object, using multi-body dynamics modeling software (ADAMS) to establish single-leg virtual prototype model in accordance with the actual geometric parameters and kinematics parameters. The virtual prototype model directly generates dynamic equation as the simulation model of controlled object. We adopt the present method, i.e. fuzzy PID, to control algorithm based on grey forecast. simulating on foot-end trajectory tracking of walking robot. Simulation results show that the proposed control method has better feasibility and control accuracy.