基于模糊鲁棒控制六轴机器人控制系统设计

Control system design of six axis robot based on fuzzy robust control

针对传统基于PLC或基于控制卡的六轴机器人运动控制系统轨迹偏差过高的问题,设计了一种基于模糊鲁棒控制的机器人控制系统。控制系统硬件部分选用STM32F103C8T6型单片机和TMS320C6203型DSP信号处理器,并添加了模糊自适应控制模块,通过对控制系统参数的自适应调整实施运动轨迹纠偏;在系统软件层面通过更新模糊规则和引入鲁棒项算法的方式,实现对非线性移动轨迹和多个不确定项的补偿和优化。实验数据显示,模糊鲁棒控制模式下机器人关节角参数、连杆偏距和位移移动精确,三个轴向坐标动态控制补偿后的轨迹偏差更小。

To tackle the problem that the trajectory deviation of the traditional six axis robot motion control system based on PLC or control card was too high,a robot control system based on fuzzy robust control was designed.In the hardware part of the control system,STM32F103C8T6 single chip microcomputer and TMS320C6203 DSP signal processor were selected,and the fuzzy adaptive control module was added to correct the motion trajectory through the adaptive adjustment of the control system parameters;At the system software level,the nonlinear moving trajectory and multiple uncertainties were compensated and optimized by updating fuzzy rules and introducing robust term algorithm.The experimental data showed that the joint angle parameters,link offset and displacement of the robot in the fuzzy robust control mode were accurate,and the trajectory deviation compensated by the dynamic control of three axial coordinates was smaller.