气动肌肉多关节柔性机械臂位姿控制  

Pneumatic Muscle Flexible Robotic Arm Joint Control

作　　者：王丽娜 王雪松 WANG Lina;WANG Xuesong(Department of Information and Control Engineering,China University of Mining and Technology,Xuzhou,China 221000;Department of Mechanical and Electrical Engineering,China Jiliang University,Hangzhou,China 310018)

机构地区：[1]中国矿业大学信息与控制工程学院,江苏徐州221000 [2]中国计量大学机电工程学院,浙江杭州310018

出　　处：《福建电脑》2024年第8期22-26,共5页Journal of Fujian Computer

基　　金：国家自然科学基金(No.31901400);浙江省重点研发计划项目(No.2022C03G1123943)资助。

摘　　要：本文构建一个气动肌肉柔性机械臂的模型。首先建立刚性机械臂模型,并进行柔性化处理,然后设计机械臂关节角度传统PID控制器、机械臂关节角度比例微分控制器、基于模糊理论的机械臂关节角度PID控制器,以控制五个关节的角度最终实现机械臂末端位姿控制。仿真实验的结果表明,该模型的控制误差在0.3度以内,基本达到了设计要求。This article constructs a model of a pneumatic muscle flexible robotic arm.Firstly,establish a rigid robotic arm model and perform flexibility processing.Then,design a traditional PID controller for the joint angle of the robotic arm,a proportional derivative controller for the joint angle of the robotic arm,and a PID controller for the joint angle of the robotic arm based on fuzzy theory to control the angles of the five joints and ultimately achieve the end effector pose control of the robotic arm.The simulation experiment results show that the control error of the model in this paper is within 0.3 degrees,which basically meets the design requirements.

关 键 词：气动肌肉 柔性机械臂 模糊理论 位姿控制 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]