多自由度机械臂抓取过程关节角度的智能控制  

Intelligent Control Method of Joint Angle in Grasping Process of Multi-Degree-of-Freedom Robotic Arm

作　　者：马荣华[1] 赵嵩[2] MA Ronghua;ZHAO Song(Zhengzhou Railway Vocational&Technical Colleg,Zhengzhou 450052,China;Henan University,Zhengzhou 450046,China)

机构地区：[1]郑州铁路职业技术学院,郑州450052 [2]河南大学,郑州450046

出　　处：《机械设计与研究》2024年第1期136-141,共6页Machine Design And Research

基　　金：河南省科技攻关项目(212102210530)。

摘　　要：多自由度机械臂关节角度控制过程中,高精度的角度控制阈值无法准确界定,输出惯性误差较大,影响机械臂抓取过程的控制精度。为了提高多自由度机械臂的控制精度,设计一种针对多自由度机械臂抓取过程的关节角度智能控制方法。首先从连杆运动和关节运动两方面构建四自由度机械臂动力学模型。然后利用玛达尼推理法处理自适应滑膜控制器的模糊推理规则,根据机械臂的移动误差,通过自适应修正控制器的输出量,得到优化控制器。利用该控制器组建MGP模型,将机械臂的相关运动相关参数输入该模型中,即可实现对多自由度机械臂抓取过程关节角度的控制。实验结果表明,该方法对关节角度的控制性能好、机械臂运动轨迹的跟踪效果好,应用该方法后,机械臂对目标物体的抓取成功率最大值接近0.96,机械臂关节在执行抓取任务时的加速度变化存在周期性,数值基本保持在8 rad/s~2~10 rad/s~2之间,且该方法控制过程的鲁棒性较高。In the joint angle control process of a multi-degrees-of-freedom(multi-DOF)manipulator,the highprecision angle control threshold cannot be accurately defined,and the output inertia error is large,which affects the control accuracy of the manipulator in the grasping process.In order to improve the control accuracy of multi-DOF manipulators,an intlligent control method of joint angle is designed for the grasping process of multi-degrees-offreedom manipulators.Firstly,the dynamics model of the four-degrees-of-freedom manipulator is built from the two aspects of link motion and joint motion.Then the fuzzy inference rules of the adaptive sliding film controller are processed using the Madani inference method.According to the movement error of the manipulator,the optimal controller is obtained by adaptively modifying the output of the controller.The MGP model is built using the controller,and the relevant motion parameters of the manipulator are input into the model,which can realize the joint angle control of the multi-DOF manipulator in the grasping process.The experimental results show that this method has good performance in controlling joint angles and tracking the trajectory of the robotic arm.After applying this method,the maximum success rate of the robotic arm in grasping the target object is close to 0.96.The acceleration change of the robotic arm joint during the grasping task is periodic,and the numerical value is mostly maintained between 8 rad/ss^(2)and 10 rad/s^(2).Moreover,the robustness of the control process of this method is high.

关 键 词：多自由度机械臂 连杆结构 关节结构 动力学模型 控制器 MGP模型 

分 类 号：TH164[机械工程—机械制造及自动化]