摘要
为解决并联机器人高度非线性、强耦合、数学模型复杂的问题,针对交流伺服电机驱动的并联机器人,在模型不确定情况下提出了一种针对2-DOF并联机器人的智能控制方法,设计了一个二输入的模糊控制器,该控制方法不需要前向运动学的求解。通过模糊控制器对PID参数进行实时整定,基于MATLAB进行动态仿真,仿真结果表明:模糊PID在轨迹跟综和带负荷运动的稳定性方面比线性PID具有更好的控制效果,可实现并联机器人的高精度实时控制。
It illustrates an application of intelligent control for a 2-DOF parallel robot in order to solve the problems of Parallel robot＇s high nonlinearity,strong coupling and mathematical model complex,specific to the parallel robot mechanism with AC servo-motor drive-GPM-200 parallel mechanism.Under the conditions of model free without using the forward kinematics of the manipulator,a three dimensional fuzzy PID controller is designed,which performance is compared with a linear PID controller.The dynamic simulation results based on the MATLAB demonstrate that fuzzy PID controller is shown to have better per-formance in tracking and higher robustness than the linear controller and can meet the requirement of par-allel robot for high precision and real time control.
出处
《机械设计与制造》
北大核心
2011年第9期90-92,共3页
Machinery Design & Manufacture
基金
江苏省自然科学基金资助项目(BK2009202)
