生物声纳探测机器人机械手关节控制设计  

Design of Manipulator Joints Control for Biosonar Robot

作　　者：王茂森[1] 伍亚冰[1] 张兰兰[1] 

机构地区：[1]南京理工大学机械工程学院,江苏南京210094

出　　处：《机械制造与自动化》2013年第4期160-163,共4页Machine Building & Automation

摘　　要：生物声纳探测仪在目标感知和识别的过程中,需要灵活的运动控制来采集目标在三维空间内的离散特征。针对生物声纳自然探测的运动需求和全地形机器人行走控制过程较复杂的特点,采用了机械手控制实现生物声纳探测仪的空间运动扫描。介绍了生物声纳探测方法,给出了机械手连杆坐标系和控制系统结构方案。提出了以STM32F103为微控制器的全地形机器人的机械手关节控制系统,并引入了模糊PI位置伺服控制策略,实现了对全地形机器人关节的实时精确控制。仿真结果验证了模糊PI位置伺服控制系统的可行性。The biosonar detector needs the flexible motion control to collect the target＇ s discrete distribution characteristic in three- dimensional space in the process of target perception and identification. In view of biosonar＇ s motion demand for natural detection and characteristics of all-terrain robot＇ s complex walking control, the space motion scan of biosonar detector is achieved by making use of manipulator control.This paper briefly describes the method of biosonar detection, manipulator linkage coordinate system and scheme of control system structure, puts forward the design of all-terrain robot manipulator joint control system based on STM32F103 microcontroller and introduces the fuzzy PI position servo control strategy in order to acheive the accurate real time control of all-ter- rain robot joint. The feasibility of the fuzzy PI position servo control system is proved in the simulation results.

关 键 词：生物声纳 全地形机器人 机械手关节控制 位置伺服控制系统 

分 类 号：TH12[机械工程—机械设计及理论] TP241.3[自动化与计算机技术—检测技术与自动化装置]