In order to achieve the automatic feeding and unloading of steel shafts for guide rollers in packaging and printing equipment

the 6-DOF manipulator control method for the composite robot was been studied. Firstly

the feeding and unloading motion of steel shaft was analyzed

and the range of positioning error for the end effector was determined through geometric relationships. Based on the fuzzy rules

a motion control system suitable for automatic feeding and unloading of steel shaft was designed. Then

the joint space trajectory tracking control experiment of the manipulator was conducted by using the sine wave as the expected trajectory

and comparing with the traditional PID control. Fuzzy PID has better control accuracy comparing with the traditional PID

and when facing external signal interference

the absolute error of joint angle can also be controlled within 2.04°. Finally

the simulated experiments were conducted

the results show that the fuzzy PID control can achieve absolute errors of 8.881

8.699

and 3.175 mm on the x

y

and z axes

respectively

all errors are within the allowable range. It indicates that the present fuzzy PID controller is suitable for the trajectory tracking control of steel axis automatic feeding and unloading robotic arms.