Concrete distribution robot control method based on fuzzy neural network

The invention discloses a concrete distribution robot control method based on a fuzzy neural network, and the method comprises the following steps that: a target position parameter signal is collected, and a target motion track is generated angle signals of the three rotary joints are collected; the error between the actual angles of the three rotary joints and the target position is calculated; the errors are calculated through fuzzy controllers of the three rotary joints, and the torques of the three rotary joints are obtained; neural network training is added into the fuzzy controllers, and the fuzzy rules of the fuzzy controllers are learned; and input compensation control is added in neural network training, the fuzzy controllers are connected with a PD controller in parallel, and the output of the PD controller serves as compensation error input of the fuzzy controllers. The method is suitable for the intelligent control of an arm frame of a concrete cloth robot. Compared with a traditional PID method,