TACSTechnology and Application of Computer Science2998-89262998-8934Art and Technology10.61369/TACS.2026060034Article基于斑马优化算法的出炉机器人位姿调整机构模糊 PID 控制与实验研究https://artdesignp.com/journal/TACS/3/6/10.61369/TACS.2026060034张梦涵,董佳希,宋敬伟,李仕华2026362026-03-28为提高铁合金出炉机器人的控制精度，本文基于4-RPC/PPR 并联机构设计了出炉机器人位姿调整机构的控制系统。首先对4-RPC/PPR 并联机构进行结构介绍。为提高出炉机器人的控制精度，设计了出炉机器人位姿调整机构模糊 PID 控制器。然后，采用斑马优化算法对模糊 PID 控制器进行初始化调参以提高调参效率。最后搭建了实验样机，通过实验验证了设计的控制策略具有较高的控制精度。出炉机器人, 并联机构, 斑马优化算法, 模糊 PID 控制器

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