应用混沌遗传及模糊决策的机械臂伺服控制  

Robotic Arm Servo Control Using Chaos Genetics and Fuzzy Decision Making

作　　者：井荣枝 王延堂[3] JING Rong-zhi;WANG Yan-tang(Zhengzhou SIAS College,He’nan Zhengzhou 451150,China;Huazhong University of Science and Technology,Hubei Wuhan 430074,China;Mineral Resources Exploration Center of He’nan Provincial Geological Bureau,He’nan Zhengzhou 450006,China)

机构地区：[1]郑州西亚斯学院,河南郑州451150 [2]华中科技大学,湖北武汉430074 [3]河南省地质局矿产资源勘查中心,河南郑州450006

出　　处：《机械设计与制造》2023年第12期235-239,共5页Machinery Design & Manufacture

基　　金：2021年度河南省科技计划项目(科技攻关)—物联网环境下新郑红枣质量安全追溯系统的关键技术研究(212102210404);河南省2021年民办普通高等学校学科专业建设资助项目(软件工程专业)教办政法[2020]179号。

摘　　要：机械臂在复杂工业环境下自适应能力欠佳,无法作出相应调整,为提升机械臂位置控制精准度,将混沌遗传及模糊决策应用于位置伺服控制。以WY700-1型号机械臂为例,给出其机械臂动力学示意图,针对机械臂各连杆,利用Denavit-Hartenberg坐标变换法建立坐标系,采用齐次变换矩阵,描述连续两个关节间的关系,结合各关节运动量,构建机械臂末端执行器的动力学模型。根据比例-积分-导数控制理论,架构位置伺服控制模型,利用模糊决策模型明确比例-积分-导数等有关参数,融合蚁群算法与混沌理论,设计混沌蚁群算法,通过搜索待优化的变量空间,得到最佳的控制系数参数,完成机械臂位置伺服控制。仿真试验阶段从直线、曲线、圆弧等不同运行轨迹验证机械臂的伺服控制效果,试验结果表明,所提方法控制准确度较为优越,能有效抑制误差干扰,可满足基本的精度需求。The robot arm has poor adaptive ability in complex industrial environment and cannot make corresponding adjustments.In order to improve the position control accuracy of the robot arm,chaotic genetics and fuzzy decision-making are applied to the position servo control.Taking the WY700-1 manipulator as an example,the dynamic diagram of the manipulator is given.For each link of the manipulator,the coordinate system is established by the Denavit-Hartenberg coordinate transformation method,and the homogeneous transformation matrix is used to describe the relationship between two consecutive joints.The dynamic model of the end effector of the manipulator is constructed by combining the motion of each joint.According to the proportional-integral-derivative control theory,the position servo control model is constructed,and the relevant parameters such as proportionalintegral-derivative are specified by the fuzzy decision-making model,and the ant colony algorithm and the chaos theory are integrated to design the chaotic ant colony algorithm.By searching the variable space to be optimized,get the best control coefficient parameters,and complete the position servo control of the manipulator.In the simulation test stage,the servo control effect of the manipulator is verified from different running trajectories such as straight lines,curves,and arcs.The test results show that the proposed method has superior control accuracy,can effectively suppress error interference,and can meet basic accuracy requirements.

关 键 词：机械臂 蚁群算法 位置 伺服控制 混沌变量 比例-积分-导数控制器 

分 类 号：TH16[机械工程—机械制造及自动化] TP241[自动化与计算机技术—检测技术与自动化装置]