三自由度移动机械手远程智能控制方法仿真

发布时间：2018-03-22 21:20

本文选题：三自由度移动机械手　切入点：远程　出处：《计算机仿真》2017年03期 　论文类型：期刊论文

【摘要】：为了更好的提升机械手远程智能控制性,需要进行三自由度移动机械手远程智能控制研究。但是采用当前方法进行机械手远程智能控制时,无法获取机械手控制的精确运动轨迹,存在控制误差大的问题。为此,提出一种基于遗传优化模糊PID的三自由度移动机械手远程智能控制方法。该方法先融合于T-S模糊控制方法组建移动机械手动力学模型,并将整体非线性的动力学模型定义为若干个局部线性模型的模糊逼近,在此基础上利用模糊PID理论得到连杆末端的空间信息和坐标,给出机械手执行器末端的空间坐标,计算出两种控制器的并行控制结构,设置加权调节因子,根据偏差绝对值的大小动态调整两种控制器的输出强度,以此为依据对三自由度移动机械手进行远程智能控制。仿真证明,所提方法极大的提升了机械手运动轨迹的控制精度,得到了平滑的运动轨迹,具有较好的实用价值。
[Abstract]:In order to improve the remote intelligent control of manipulator, it is necessary to study the remote intelligent control of mobile manipulator with three degrees of freedom. It is impossible to obtain the accurate motion trajectory of manipulator control, which has the problem of large control error. For this reason, A remote intelligent control method for mobile manipulator with three degrees of freedom based on genetic optimization fuzzy PID is proposed. The method is integrated with T-S fuzzy control method to build dynamics model of mobile manipulator. The global nonlinear dynamic model is defined as the fuzzy approximation of some local linear models. Based on the fuzzy PID theory, the spatial information and coordinates of the end of the connecting rod are obtained, and the spatial coordinates of the end of the manipulator are given. The parallel control structure of the two kinds of controllers is calculated, the weighting adjustment factor is set, and the output strength of the two controllers is dynamically adjusted according to the absolute value of the deviation. The simulation results show that the proposed method can greatly improve the control accuracy of the manipulator's motion trajectory and obtain a smooth trajectory, which has good practical value.
【作者单位】：太原大学计算机中心;
【分类号】：TP241

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