An Actuator Based on Linkage Structure and Control System Design

A robot system based on a linkage structure, which can precisely perceive the working state by utilizing a variety of sensors carried on board. A multi-sensor data fusion strategy to integrate more accurate data based on different working states of the robot, thereby enhancing the robot's capabilities in receiving commands and perceiving the environment. Furthermore, at the control level, a neural network control based on radial basis functions is applied to the robot. This algorithm leverages the approximation properties of neural networks to estimate disturbances and uncertainties in the nonlinear system of the robot more accurately, enabling smoother and faster control. Experimental validation demonstrates that the utilization of neural network control on this robot yields superior control performance compared to traditional PID control, affirming its high operational efficiency.