仿生机器马逆运动学分析与模糊PID控制

Inverse Kinematics Analysis and Fuzzy Adaptive PID Control Of Bionic Robot Horse

主要研究了基于新型正交六自由度并联机构设计的仿生型机器马系统的运动学特性。首先分析了机器人的逆运动学方程,然后设计了模糊自适应PID控制器,最后给出了动平台做一定曲线运动时各支链杆长变化曲线,用模糊自适应PID控制器对支链杆长变化进行跟踪,结果表明了模型的正确性和控制器的有效性,为该仿生型机器马的控制奠定了基础。

This paper mainly presents the kinematics characteristics of bionic robot horse base on novel 6-DOF orthogonal parallel institutions. First analyzes the inverse kinematics equation, Then has designed fuzzy self-adaptive PID controller, Finally, the simulation curves of various branched chains are given when platform made certain curvilinear motion, Carries on the track with the fuzzy PID controller to the branched chain pole long change, The simulation testing shows that the model is correct and the control method is effective, and laid the foundation of bionic robot horse control.