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Open AccessArticle

Picking Robot Visual Servo Control Based on Modified Fuzzy Neural Network Sliding Mode Algorithms

1
School of Electronics and Information, Jiangsu University of Science and Technology, Zhenjiang 212003, China
2
Microrobotics Lab, The University of Sheffield, Sheffield S13JD, UK
3
School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212003, China
*
Author to whom correspondence should be addressed.
Electronics 2019, 8(6), 605; https://doi.org/10.3390/electronics8060605
Received: 23 April 2019 / Revised: 23 May 2019 / Accepted: 24 May 2019 / Published: 29 May 2019
(This article belongs to the Special Issue Visual Servoing in Robotics)
Through an analysis of the kinematics and dynamics relations between the target positioning of manipulator joint angles of an apple-picking robot, the sliding-mode control (SMC) method is introduced into robot servo control according to the characteristics of servo control. However, the biggest problem of the sliding-mode variable structure control is chattering, and the speed, inertia, acceleration, switching surface, and other factors are also considered when approaching the sliding die surface. Meanwhile, neural network has the characteristics of approaching non-linear function and not depending on the mechanism model of the system. Therefore, the fuzzy neural network control algorithm can effectively solve the chattering problem caused by the variable structure of the sliding mode and improve the dynamic and static performances of the control system. The comparison experiment is carried out through the application of the PID algorithm, the sliding mode control algorithm, and the improved fuzzy neural network sliding mode control algorithm on the picking robot system in the laboratory environment. The result verified that the intelligent algorithm can reduce the complexity of parameter adjustments and improve the control accuracy to a certain extent. View Full-Text
Keywords: visual servoing; fuzzy neural network; sliding mode control; picking robot visual servoing; fuzzy neural network; sliding mode control; picking robot
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MDPI and ACS Style

Chen, W.; Xu, T.; Liu, J.; Wang, M.; Zhao, D. Picking Robot Visual Servo Control Based on Modified Fuzzy Neural Network Sliding Mode Algorithms. Electronics 2019, 8, 605.

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