冗余机械臂灵活性最优化的实时控制系统  

Real-time Control System for Flexibility Optimization of Redundant Manipulator

作　　者：马文静 张松 张彤晓 朱海荣 张慧 MA Wen-jing;ZHANG Song;ZHANG Tong-xiao;ZHU Hai-rong;ZHANG Hui(School of Mechanical and Electrical Engineerin&Jiangsu College of Engineering and Technology,Nantong 226007,China;School of Information and Control Engineering,China University of Mining and Technology,Xuzhou 221008,China)

机构地区：[1]江苏工程职业技术学院机电工程学院,江苏南通226007 [2]中国矿业大学信息与控制工程学院,江苏徐州221008

出　　处：《控制工程》2021年第10期2012-2020,共9页Control Engineering of China

基　　金：江苏省高校青蓝工程项目(苏教师函(2020)10号,苏教师(2019)3号);南通市基础科学研究项目(JC2020154)。

摘　　要：冗余机械臂实时完成路径追踪及避障任务时,为了应对动态的路径和障碍物分布环境,姿势需实时保持着最佳的灵活性,其评估标准为灵活性椭圆。超前预览控制利用一个或多个仅体现在计算机程序代码中的假想机械臂,时刻领先实际机械臂固定的时间身位,相当于假想机械臂提前探索到未来的环境信息,并利用单步遗传算法实时地计算出机械臂姿势最优解,身后的实际机械臂在假想机械臂的引导下,逐步向其最佳姿势过渡,超前预览控制方案增强了安全程度。最后,二维平面内的四关节机械臂和三维空间内的七关节机械臂的仿真及实验结果验证了所提出算法的正确性和控制系统的有效性。In order to deal with the dynamic environment of the path and obstacle,the posture of redundant manipulator need to maintain the best flexibility in real time when completing path tracking and obstacle avoidance tasks in real time,this evaluation criteria is called by flexibility ellipsoid.Advance preview control uses one or more imaginary arms only embodied in the computer program code to always be ahead of the fixed time position of the real arms,which is equivalent to the imaginary manipulators exploring the future environment information in advance.The 1-step genetic algorithm is used to calculate these optimal postures in real time,and the actual manipulator behind is gradually transitioned to its best position under the guidance of the imaginary manipulator.This control method enhances the security.Finally,the simulation and experimental results of a four-joint manipulator in two-dimensional plane and a seven-joint manipulator in three-dimensional space verify the correctness of the algorithm and the effectiveness of the control system.

关 键 词：冗余机械臂 路径追踪 避障 灵活性椭圆 超前预览控制 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]