多连杆柔性机械手控制的遗传算法

Tip-position control of flexible multi-link manipulators with genetic algorithm

讨论了多连杆柔性机械手末端位置的控制问题。因为基于逆动力学的控制不易保证系统的稳定性 ,给出了一种非线性预测与刚性运动PD反馈相结合的混合控制器。由于控制器的参数较多 ,且呈复杂的非线性关系 ,传统设计方法难以保证控制器稳定性。提出一种基于遗传算法的设计方法 ,采用遗传算法选择控制器的参数 ,配置系统的极点。通过一个双连杆柔性机械手的仿真表明 ,采用遗传算法设计的系统可实现多连杆柔性机械手末端轨迹的准确跟踪 。

Tip position control of flexible multi link manipulators is discussed. Because it is difficult to guarantee the stability of closed loop system based on the nonlinear inversion,A hybrid controller combining nonlinear prediction and PD feedback of rigid motion is developed. Due to the quantity of the parameters and the complexity of nonlinear charater in the system, the stability of closed loop system is difficult to guarantee by classical designing methods. A designing method based on genetic algorithm is proposed.The genetic algorithm is used to select the parameters in the controller so as to collocate the poles in the closed loop system. Digital simulation result of flexible two link manipulators is given to show that in the closed loop system designed by the genetic algorithm accurate tip point trajectory tracking and vibration damping can be accomplished.