Control and Simulation of Flying Robotic Arms

Abstract Traditional manual high-altitude operations have problems of safety risks and low efficiency. However, the combination of unmanned aircraft and mechanical arms can improve efficiency and ensure safety. Flight disturbances will affect the precise control of the mechanical arms. This paper proposes a compensation algorithm based on fuzzy PID control to deal with the motion disturbances of the flight platform. Fuzzy PID control combines the advantages of fuzzy control and classical PID control, and can handle the uncertainty and nonlinearity of the system, and real-time compensate for the disturbances of the flight platform. This innovation can solve the problems of accuracy decline and response delay that traditional PID control may encounter when dealing with disturbances or nonlinear systems. According to the deviation data of the end position of the mechanical arm in the simulation results, it can be concluded that after compensation control, the error of the end position is significantly reduced compared with traditional PID control, and the control accuracy reaches within 0.05mm, and the steady-state error is less than 0.1mm after compensation. This research provides technical support for the application of flight mechanical arms in wind turbine group detection, and provides new ideas for the design of control systems for unmanned aircraft platforms carrying mechanical arms. The simulation results show that this control strategy significantly improves the stability and accuracy of the end position of the mechanical arm, especially under the condition of flight platform disturbances, it can effectively maintain the end position of the mechanical arm at the target position.