{'fraction_non_alphanumeric': 0.016736401673640166, 'fraction_numerical': 0.0, 'mean_word_length': 4.790322580645161, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Nonlinear PID Control for Industry Robots

A new nonlinear PID control method is proposed to meet the needs of a vertical robot running under a high speed condition, whose joint transfer function changed with the joints position. Firstly, the experimental system has been set up. Then the joints transfer functions can be established. Moreover, the relationship between the PID parameters and joints angle position θ has been set up by the least square method. So the nonlinear PID controller can be obtained. In the end, several testing experiments have been caught out. The result shows that the nonlinear PID controllers have fast respond, which can meet the satisfaction of the robot under a high speed condition.