In the process of controlling the movement of an intelligent manipulator, the control system is interfered by the time delay of the network circuit, which leads to time delay in executing control instructions. In the hardware part, the moment sensor is installed at the joint of the manipulator, the number of network lines of the manipulator is reduced by connecting sensor power module and high-speed serial bus communication, and the bottom controller is designed. In the software part, T-S fuzzy model is used to control multiple control indexes, track the mobile manipulator, switch the switching surface between the initial state and the arrival state of the manipulator, and finally realize the design of the movement control system. The results show that the movement control system of the intelligent manipulator designed in this paper has the shortest execution time.
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Translated from Izvestiya Vysshikh Uchebnykh Zavedenii, Fizika, No. 6, pp. 131–137, June, 2021.
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Lin, W., Peng, L. Design of the Intelligent Manipulator Movement Control System Based on the T-S Fuzzy Model. Russ Phys J 64, 1107–1121 (2021). https://doi.org/10.1007/s11182-021-02431-1
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DOI: https://doi.org/10.1007/s11182-021-02431-1