基于遗传算法的按摩机器人手臂控制系统  

Research of the massage robotic arm control system based on genetic algorithm

作　　者：张邦成[1] 韩跃营[1] 王占礼[1] 周志杰[2] 刘铁军[3] 庞在祥[1] 

机构地区：[1]长春工业大学机电工程学院,吉林长春130012 [2]第二炮兵工程大学,陕西西安710025 [3]空军航空大学飞行基础训练基地,吉林长春130022

出　　处：《长春工业大学学报》2012年第5期502-507,共6页Journal of Changchun University of Technology

基　　金：国家863计划基金资助项目(2008AA040205)

摘　　要：为提高按摩机器人手臂关节的轨迹跟踪精度,基于遗传算法建立了按摩机器人手臂的PID参数自整定控制模型。在利用拉格朗日功能平衡法对按摩机器人手臂进行动力学分析基础上,建立按摩机器人手臂各关节电机的瞬时传递函数;利用遗传算法全局最优的优点,对按摩机器人手臂各关节电机的瞬时最优PID控制器参数值进行整定;应用最小二乘法建立PID参数与关节转角位置的数学模型,实现了对下一时刻关节的PID控制器参数的优化,从而实现按摩机器人手臂关节电机参数自整定的目的。仿真与实验表明,设计的PID控制器响应速度快、误差小,按摩机器人手臂的位置定位精度ζ≤±0.1mm,满足了中医按摩对定位精确度与平稳性的要求。In order to improve the trajectory tracking accuracy of the arm joint of massage robot, the robotic arm automatic optimization control model of PID parameters is set up on the basis of genetic algorithm. Dynamics analysis for the massage robot arm is made through Lagrange function, and instantaneous transfer function of each joint motor of the massage robot arm is founded. Based on the global optimal advantages of the genetic algorithm, the instantaneous optimal values of PID parameters of each joint are adjusted. The model between PID parameters and the positions of joint was set by using least square method. So the PID controller can be optimized at the next moment.Thus, the purpose of adjusting the motor parameters of each joint automatically is realized. The simulation and experiments show that the PID controller responses quickly, and the error is small. The positioning accuracy of the robot isζ≤± 0. 1 mm, which satisfies the positioning accuracy and the stability requirements of the Chinese massage.

关 键 词：机器人 PID控制器 遗传算法 最小二乘法 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]