Simulation Study of Trajectory Tracking of Picking Robotic Arm Based on Inverse Dynamics and Fuzzy PID Algorithm

Abstract Aiming at the problem of low efficiency and poor precision of the picking robotic arm, a trajectory tracking control strategy of the robotic arm based on a fuzzy PID algorithm is proposed. Firstly, through the kinematic analysis of the picking robotic arm, the robotic arm is converted from the working space to the joint space; secondly, the inverse dynamics model of the robotic arm is constructed using the Lagrangian method as the feed-forward compensation module; base on which the fuzzy rules are introduced to design the fuzzy PID controller, and finally the fuzzy PID controller is verified through Matlab/Simulink simulation. The simulation shows that compared with the traditional PID controller, the tracking error of the designed fuzzy PID controller is reduced by 80%, and the convergence speed is improved, which provides reliable technical support for enhancing the trajectory tracking control accuracy of the mechanical arm for picking agricultural products.