三自由度移动机械手远程智能控制方法仿真

Three Degrees of Freedom Mobile Manipulator Remote Intelligent Control Method for the Simulation

为了更好的提升机械手远程智能控制性,需要进行三自由度移动机械手远程智能控制研究。但是采用当前方法进行机械手远程智能控制时,无法获取机械手控制的精确运动轨迹,存在控制误差大的问题。为此,提出一种基于遗传优化模糊PID的三自由度移动机械手远程智能控制方法。该方法先融合于T-S模糊控制方法组建移动机械手动力学模型,并将整体非线性的动力学模型定义为若干个局部线性模型的模糊逼近,在此基础上利用模糊PID理论得到连杆末端的空间信息和坐标,给出机械手执行器末端的空间坐标,计算出两种控制器的并行控制结构,设置加权调节因子,根据偏差绝对值的大小动态调整两种控制器的输出强度,以此为依据对三自由度移动机械手进行远程智能控制。仿真证明,所提方法极大的提升了机械手运动轨迹的控制精度,得到了平滑的运动轨迹,具有较好的实用价值。

This article proposes a remote intelligent control method of mobile manipulation with three degrees of freedom based on fuzzy PID of genetic optimization.Firstly,we built dynamical model of mobile manipulator integrated with T-S fuzzy control method and defined entirety nonlinear dynamical model as fuzzy approximation of several models with local linearity.Then we used fuzzy PID theory to obtain spatial information and coordinate at terminal of connecting rod.Next,space coordinate at terminal of manipulator actuator was provided,parallel control structure of two controllers was worked out,and weighting regulatory factor was also set.Finally,we adjusted export strength of the controllers based on deviation absolute value dynamically and completed remote intelligent control of mobile manipulator according to that.Experiment simulation results prove that the method promotes control accuracy of movement locus greatly and obtains smooth movement locus.It has better practical value.