Abstract: In traditional multi degree of freedom robotic arm control methods, there is a problem of inability to accurately perceive heterogeneous information from multiple sources around, resulting in low control accuracy, large errors in robotic arm motion and grasping pressure control, and potential damage to the target object. To address this issue, this paper proposes a fuzzy control method for multi degree of freedom robotic arms based on an improved differential evolution algorithm. Designed an overall schematic diagram for the drive control of a multi degree of freedom robotic arm, and collected multi-source heterogeneous information around the robotic arm during operation. Design a multi-source heterogeneous information fusion application process, establish a single robotic arm mechanism motion coordinate system, and use an improved differential evolution algorithm to obtain the optimal trajectory of the planar motion of a multi degree of freedom single robotic arm, achieving target tracking of the multi degree of freedom robotic arm operation motion process. Design the overall structure of the controller to achieve fuzzy control of the robotic arm. The experimental results show that the designed driving control method can achieve an average error distance of 3.2mm between the actual landing point of the target object and the landing point of the target, and the error is within the allowable range.
贾海陶, 张胜. 基于改进差分进化算法的多自由度机械臂模糊控制研究[J]. 吉林化工学院学报, 2025, 42(9): 86-90.
Jia Haitao, Zhang Sheng. Research on Fuzzy Control of Multi Degree of Freedom Robotic Arm Based on Improved Differential Evolution Algorithm. Journal of Jilin Institute of Chemical Technology, 2025, 42(9): 86-90.
