A portable biomimetic robot path automation control method based on single neuron PID
Zhidong Lin, Yunyun Zhao, Xun Wang · 2024
In order to solve the problem of chaotic program formation in portable bionic robotic arms, which leads to excessive output angle of automation control methods and severe shaking during operation. A portable bionic robotic arm operation path automation control method based on single neuron PID is proposed. This method builds a hierarchical control structure for biomimetic robotic arms, dividing control tasks into multiple levels, and improving the overall flexibility and robustness of the system. At the same time, a single neuron PID algorithm is used to construct a job path controller, which takes the path position data generated by the bionic robotic arm as the control object. By simulating and setting the operation process of the bionic robotic arm, the output function sequence is reasonably arranged to achieve precise control of the end position of the robotic arm. The experimental results show that the proposed method has a control accuracy of no less than 90%, a task completion rate of over 97%, and higher control accuracy and higher operating efficiency of the robotic arm.