基于任务需求的仿生手臂在线协调控制技术  

Online harmonious control technology of human bionical-arm based on task-requirement

作　　者：苏海龙[1] 张峻霞[1] 张建国[1] 胡军[1] 

机构地区：[1]天津科技大学机械工程学院天津300222

出　　处：《高技术通讯》2009年第2期162-167,共6页Chinese High Technology Letters

基　　金：863计划(2006AA040201);天津市应用基础研究计划(07JCYBJC18700)资助项目

摘　　要：针对仿生手臂在目标任务需求改变后对规划平稳动态过程的需求,提出了实时检测动态参数并将其反馈至前向控制环节进行在线协调控制的算法。该算法以基于Kane方程的仿生手臂动力学模型为基础,能够实现动力学参数值快速在线调控,判断仿生手臂目标检测点的动态参数偏差,并据此调节仿生手臂各部分姿态参数,使其能按离线动作规划平稳准确地完成目标任务。采用Matlab的Simulink控制工具箱进行仿真,测评了仿生手臂基于不同目标任务运动过程的生物效能性。实验数据表明,该算法改善了仿生手臂的生物效能性。To meet the requirements for a bionic-ann in a scheduled smooth-dynamic process caused by the change of its required tasks, an online harmonious control algorithm is proposed. This algorithm, based on the Kane＇s equation dynamic model of the bionic-arm, can be used to judge dynamic parameters in real-time and reflect them to the preceding control parts by a feedback branch to achieve online regulating. After accomplishing online adjusting the dynamic parameters rapidly, the algorithm is able to acquire the deviations of the target-points＇ dynamic parameters on the bionic-ann. According to these deviations, the bionic-ann＇s gesture is regulated to perform the specified task by the previously defined off-line schemes successfully. By using this algorithm, the simulations of some actions which are based on various required task were performed in the Matlab/Simulink environment, thus the biological efficiency of the bionic-arm was verified. The experimental data showed that the algorithm improved the biological efficiency of the bionic-arm.

关 键 词：仿生手臂 任务需求 在线协调控制 KANE方程 生物效能性 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]