摘要
基于模糊控制理论,研究2R欠驱动机器人关节的位置控制问题。在被动关节附加电磁制动器以控制关节间的耦合状态。根据电磁制动器的工作状态,将欠驱动机器人的位置控制分为两个阶段。第一阶段,制动器解锁,利用被动关节加速度与驱动关节转矩间的动力学耦合效应,间接控制被动关节沿预定轨迹运动到预定位置,同时总结模糊控制规则,设计用于控制被动关节运动的模糊控制器。第二阶段,制动器锁定,然后驱动关节运动到预定位置。设计并搭建了基于可编程多轴运动控制卡的试验控制系统。最后通过试验成功实现2R欠驱动机器人关节的位置控制。试验数据表明,模糊控制方法对于机器人被动关节具有较高的位置控制精度,鲁棒性良好,并且不依赖于机器人动力学模型,实时控制的计算量小,体现出智能控制的优越性。
Based on fuzzy control theory, the joints position control of 2R underactuated robot is studyed, a electromagnetic brake is fixed into the passive joint to control the coupling state between joints. The process to control the robot position can be divided into two phases. The brake is released during the first phase. Depending on the dynamic coup ling effect between the angle acceleration of passive joint and the torque of active joint, passive joint can be controlled indirectlly to the desired position along the desired trajectory. The fuzzy control rules during the first phase are described and fuzzy controller are designed to control the motion of passive joint. The brake is locked during the second phase, then active joint is controlled to the desired position. The experimental control system based on PMAC controller is designed and developped. Finally, the position control of the 2R underactuated robot is achieved successfully by experiments. The experimental data indicates that the fuzzy control method presented has high precision and good robust character for position control of the passive joints. Furthermore, this method doesn＇t rely on the dynamic modle of the robot and the calculation during real-time control is very few, which shows the advantage of intelligent control.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2008年第1期144-149,154,共7页
Journal of Mechanical Engineering
基金
国家自然科学基金(50575002)
北京市自然科学基金(3062004)
北京市人才强教计划资助项目。
关键词
欠驱动机器人
模糊控制
位置控制
控制系统
Underactuated robot Fuzzy control Position control Control system
