基于模糊逻辑控制算法的混联机械臂最优运动轨迹规划

Optimal trajectory planning of hybrid manipulator based on fuzzy logic control algorithm

针对混联机械臂结构复杂的特点,提出一种基于模糊逻辑控制的运动轨迹控制方案。首先分析混联机械臂双平台空间坐标转换关系,并求出机械臂作业中矩阵变量所对应的空间坐标值,作为模糊逻辑控制器的输入量;然后基于空间坐标变换的规则库对输入变量做模糊推理,提取出最小的模糊隶属度函数适配度,并选取出回报值最大的无障碍最优路径;最后搭建仿真平台并通过调整DH矩阵旋转角度参数,确定关节旋转角度和连杆移动的偏差值。实验结果表明,使用所提轨迹规划方法的混联机械臂的关节速度轨迹波动值最小,且最短路径的遍历时间更短。

According to the complex structure of the hybrid manipulator,a motion trajectory control scheme based on fuzzy logic control is proposed.This paper analyzes the spatial coordinate transformation relationship of the two platforms of the hybrid manipulator,and finds out the corresponding spatial coordinate value of the matrix variable in the operation of the manipulator as the input of the fuzzy logic controller.Based on the rule base of the spatial coordinate transformation,the fuzzy inference is made on the input variable,the minimum fuzzy membership function fitness is extracted,and the barrier free optimal path with the maximum return value is selected.The simulation platform is built and the rotation angle parameters of DH matrix are adjusted,the deviation of the joint rotation angle and the movement of the connecting rod are determined.The experimental results show that the joint velocity trajectory fluctuation value of the hybrid manipulator proposed by the trajectory planning method is the smallest,and the shortest path traversal time is shorter.