基于模糊自整定PD控制器的机器人计算力矩控制  

Computed-torque control of robot manipulator based on fuzzy self-tuning PD controller

作　　者：谢宗武[1] 孙奎[1] 黄剑斌[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,哈尔滨150080

出　　处：《机械设计与制造》2009年第6期178-180,共3页Machinery Design & Manufacture

基　　金：863计划资助项目(2006AA04Z228)

摘　　要：设计了应用于计算力矩控制方案中的模糊PD控制器(FLC),进一步提出了模糊自整定PD控制器(SFLC)。用带有末端执行器的平面3自由度机器人为例进行了动力学仿真,并将采用固定PD控制器、模糊PD控制器和模糊自整定PD控制器的计算力矩控制方案进行了比较。仿真结果表明,采用模糊自整定PD控制器(SFLC)后能有效的克服模型不确定所造成的影响,得到比较小的轨迹跟踪误差,为机器人的实际控制提供了理论基础。A fuzzy PD controller that used in computed-torque control scheme is designed,a fuzzy self-tuning PD controller is proposed furthermore. Dynamics simulation are conducted based on a 3 DOF planar robot manipulator that with an end effector,the results are compared with the computed-torque con- trol scheme that emploies constant PD controller,fuzzy PD controller and fuzzy self-tuning PD controller respectively. The results show that the scheme with fuzzy self-tuning PD controller can deal with influences resulting from the model uncertainty and decrease the tracking error effectively,thus provide the theory foundation for the practical control of the robot manipulator.

关 键 词：机器人机械手 计算力矩控制 模糊控制器 

分 类 号：TH112[机械工程—机械设计及理论]