基于模糊推理的机械臂关节轨迹规划

Manipulator joint trajectory regulation based on fuzzy reasoning

针对冗余空间机械臂关节角速度向量轨迹规划中合理协调多个约束条件的难题,提出了基于模糊推理理论的多约束条件下机械臂关节角速度向量轨迹规划控制算法。将传统的关节角速度向量算法与模糊推理原理有效结合,由模糊推理选定某一时刻需要优化的约束条件,以及对约束条件的执行程度,有效解决了多约束条件下冗余机械臂关节角速度向量轨迹规划的控制问题,数字仿真结果证明了所提算法的有效性。

To solve the difficult problem of coordinating multi-restrictions in the joints velocity vector trajectory regulation of redundant space manipulator, a novel joints velocity vector trajectory regulation algorithm, based on fuzzy reasoning theory, is presented. The conventional joints velocity vector regulation algorithm is combined effectively with fuzzy reasoning theory. The restriction to be optimized is selected by the outcome of fuzzy reasoning at any moment, and the degree of execution for the restriction is decided by fuzzy reasoning too. The redundant manipulator joints velocity vector regulation problem is solved. The validity of the presented algorithm is proved by the representative cases.