The Mobile Control Scheme of Intelligent Manipulator Based on the Digital PID

The intelligent manipulator is installed on the mobile platform. This configuration make the manipulator possess of almost infinite workspace and the high kinetic redundancy and have the function of movement and manipulation. From this point of view, itpsilas better than the mobile robot and traditional manipulator. This paper designs the mobile control scheme of intelligent manipulator based on digital PID, and the control improvement scheme of the system when the mobility of the platform is interfered. Also, the paper studies the realization of the control method of digital PID and proposes a simple intelligent control system of the manipulator.