基于模糊PD算法的三自由度机械臂遥操作双边控制

Bilateral Control of Three Degrees of Freedom Manipulator Teleoperation Based on Fuzzy PD Algorithm

遥操作中由于操作者手部生理颤抖和机械臂与不同工作环境相接触时的非线性,无法精确地建立模型,这会影响双边控制系统的性能。该文通过对双边控制响应曲线的分析,设计控制参数ΔKs、ΔKd模糊规则集,采用模糊PD算法对双边控制系统进行参数优化。建立三自由度机械臂模型,并用三自由度机械臂与Matlab联合进行实时仿真,对系统参数优化前和优化后进行比对试验。采用模糊PD算法提高了系统的自适应能力,达到良好的稳定性及跟踪性。试验结果证明所提方法是可行有效的。

According to the physiological tremor of the manipulator and the nonlinearity of the contact between the manipulator and the different working environment,the accurate model can not be established,which can affect the performance of the bilateral control system. Based on the analysis of bilateral control response curve and design ZkK,, AKd fuzzy rule set,the fuzzy PD algorithm is adopted to optimize the parameters of the bilateral control system. The model of three degrees of freedom manipulator is established ,and the system is simulated with three degrees of free- dom manipulator and Matlab in real-time,and the comparison test is carried out before and after optimization of system parameters. The fuzzy PD algorithm is adopted to improve the adaptive ability of the system,which can achieve good stability and tracking performance. The experimental results show that the proposed method is feasible and effective.