基于模糊滑模控制算法的机器人控制方法设计  

Design of Robot Control Method Based on Fuzzy Sliding Mode Control Algorithm

作　　者：黄海龙 蔡娟 刘源 HYANG Hailong;CAI Juan;LIU Yuan(College of Information Engineering,Guangzhou Vocational and Technical University of Science and Technology,Guangzhou 510545,China;School of Electronic and Optical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]广州科技职业技术大学信息工程学院,广州510000 [2]南京理工大学电子工程与光电技术学院,南京210094

出　　处：《自动化与仪器仪表》2024年第12期163-167,共5页Automation & Instrumentation

基　　金：国家自然科学基金委员会,基于伪模态知识持续学习的三维夜视目标跟踪方法研究(62301253)。

摘　　要：针对隧道施工中的检测机器人机械臂末端控制精准度较差的问题,对奥博i16机器人机械臂的末端控制器进行了研究。进行了运动学分析与建模,确定机械臂连杆和关节角度等相关参数,采用模糊控制算法与滑膜控制算法设计了一种优化模糊滑膜控制算法,创新地对滑膜控制器的切换函数进行了改进。经实验测试,研究提出的优化滑膜控制算法比滑膜控制算法到达恒定期望的位置跟踪偏差减少了0.005 mm,模拟实际检测的控制位置变化平均绝对偏差和均方根偏差比滑膜控制算法分别减少了62.83%、62.30%,姿态角度跟踪分别减少了61.96%、65.83%。经实验测试实现了机器人机械臂的跟踪抖动振荡情况的消除,系统控制稳定性和精准度的提高,系统控制过程中的跟踪效果优化,实现了巡检机器人的高精度控制需求。经实际应用满足了机器人控制方法在隧道施工过程的安全监测需求。Aiming at the problem of poor accuracy of the end control of the robotic arm of the inspection robot in tunnel construction,the end controller of the robot arm of the Auber i16 robot was studied.Conducted kinematic analysis and modeling to determine the parameters related to the links and joint angles of the robotic arm,and designed an optimized fuzzy sliding mode control algorithm using fuzzy control algorithms and sliding mode control algorithms.The switching function of the sliding mode controller was innovatively improved.Experimental testing showed that the proposed optimized fuzzy sliding mode control algorithm reduced 0.005mm from the position tracking deviation from reaching the constant expectation.The average absolute deviation and root mean square deviation of the control position changes simulated in actual detection were reduced by 62.83%and 62.30%respectively compared to the sliding mode control algorithm,and the posture angle tracking was reduced by 61.96%and 65.83%respectively.After experimental testing,the tracking jitter and oscillation of the robotic arm were eliminated,the stability and precision of the system control were improved,the tracking effect during the system control process was optimized,and the high-precision control requirements of the patrol robot were met.After practical application,it met the safety monitoring needs of the robot control method in the tunnel construction process.

关 键 词：模糊控制算法 滑膜控制算法 机器人控制 机械臂 运动学分析 姿态跟踪 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]