基于模糊控制的移动机械臂系统设计  

Design of mobile manipulator system based on fuzzy control

作　　者：李伟中 张朋 钟尚鹏 卢自宝[1] LI Weizhong;ZHANG Peng;ZHONG Shangpeng;LU Zibao(Anhui Provincial Engineering Laboratory on Information Fusion and Control of Intelligent Robot,Anhui Normal University,Wuhu 241000,China;Shandong Shankuang Machinery Co.,Ltd..Jinning 241000,China)

机构地区：[1]安徽师范大学安徽省智能机器人信息融合与控制实验室,安徽芜湖241000 [2]山东山矿机械有限公司,山东济宁272041

出　　处：《电气应用》2019年第12期84-90,共7页Electrotechnical Application

基　　金：国家自然科学基金资助项目(61503003)

摘　　要：在移动机械臂系统的设计领域中,设计出具有良好动态性能且稳定的控制系统是一个难点。提出了一种基于模糊控制的移动机械臂控制方法,运用Matlab语言对趋近和抓取过程分别设计了二维模糊逻辑推理系统,选取相对合理的隶属度函数类型并设计合适的控制规则,最后通过Simulink建立移动机械臂路径趋近及抓取的数学模型并进行仿真实验。仿真结果表明该系统能够满足具体的趋近要求,能够抑制抓取过程中的扰动,拥有较好的动态性能和稳定性,可降低传统算法中的控制损耗及对环境条件的依赖。In the field of the design of the mobile mechanical arm system,it is a difficult to design a control system with good dynamic performance and stability.A control method of a moving robot arm based on fuzzy control is proposed.The two-dimensional fuzzy logic reasoning system is designed by using the Matlab language to approach and grasp,and the relative reasonable membership function type is selected,and the appropriate control rule is designed.Finally,the mathematical model of the path approach and the grabbing of the moving robot arm is established by Simulink,and the simulation experiment is carried out.The simulation results show that the system can meet the specific approaching requirement and can restrain the disturbance and hold in the process of grasping.Better dynamic performance and stability can reduce the control loss in the traditional algorithm and the dependence on the environment condition.

关 键 词：移动机械臂 模糊逻辑推理 二维模糊控制器 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]