基于细菌觅食算法的嵌入式机械臂角度控制器设计  

Design of Embedded Robotic Arm Angle Controller Based on Bacterial Foraging Algorithm

作　　者：杜晓岚[1] 朱梦楠 DU Xiaolan;ZHU Mengnan(School of Electric Engineering,Shaanxi Polytechnic Institute,Xianyang 712000,China;Academic Affairs Office,Shaanxi Polytechnic Institute,Xianyang 712000,China)

机构地区：[1]陕西工业职业技术学院电气工程学院,陕西咸阳712000 [2]陕西工业职业技术学院教务处,陕西咸阳712000

出　　处：《计算机测量与控制》2024年第6期133-138,共6页Computer Measurement &Control

基　　金：2021年度陕西省高等职业教育教学改革重点研究项目(21ZZ001);2023年度陕西高等职业教育教学改革研究重点项目(23GZ005);2024年度陕西省职业技术教育学会职业教育教学改革研究课题(2024SZX014)。

摘　　要：进行机械臂角度控制器设计过程中,为提高机器人机械臂灵活性,降低关节角度控制误差,设计一种细菌觅食算法的嵌入式机械臂角度控制器;首先,构建机械臂动力学模型以获取机械臂的柔性特征及其关节位置,根据获取的信息确定角度控制器的硬件逻辑结构和算法;然后,使用ARM微处理器嵌入式操作系统,设计包含移动控制终端和机械臂控制端的控制器硬件结构;最后,采用细菌觅食算法优化控制器参数,并实现代码完成机器人机械臂角度的精准跟踪控制;实验结果表明:所提方法的位姿跟踪精度高达99%、物体偏移距离在0~0.2 mm之间,控制运行时间在0.33~0.78 s之间,表明所提方法的角度控制误差小、稳定性强,能够保证机械臂关节角度无超调,具有极高的机器工程应用价值。During designing robotic arm angle controllers,in order to improve the flexibility of robotic arms,and reduce the control errors of robotic arm joint angle,an embedded robotic arm angle controller based on bacterial foraging algorithm is designed.Firstly,this paper construct the dynamic model of the robotic arm to obtain the flexible features and joint positions of the robotic arm,and determines the hardware logic structure and algorithm of the angle controller according to the obtained information.Then,the ARM microprocessor embedded operating system is used to design the controller hardware structure that includes the mobile control terminal and manipulator control terminal.Finally,the bacterial foraging algorithm is used to optimize the controller parameters,implement the controller code,and accurately track and control the angle of the robotic arm.The experimental results show that the pose tracking accuracy of the proposed method is up to 99%,the object offset distance is within 0.2 mm,and the control running time is between 0.33 s and 0.78 s.It indicates that the proposed method has small angle control errors and strong stability,and it can ensure that the joint angle of the robotic arm is not overshoot,which has a high engineering application value.

关 键 词：嵌入式系统 微处理器 机械臂动力学模型 细菌觅食算法 

分 类 号：TM383.4[电气工程—电机]