气动肌肉多关节柔性机械臂位姿控制

Pneumatic Muscle Flexible Robotic Arm Joint Control

本文构建一个气动肌肉柔性机械臂的模型。首先建立刚性机械臂模型,并进行柔性化处理,然后设计机械臂关节角度传统PID控制器、机械臂关节角度比例微分控制器、基于模糊理论的机械臂关节角度PID控制器,以控制五个关节的角度最终实现机械臂末端位姿控制。仿真实验的结果表明,该模型的控制误差在0.3度以内,基本达到了设计要求。

This article constructs a model of a pneumatic muscle flexible robotic arm.Firstly,establish a rigid robotic arm model and perform flexibility processing.Then,design a traditional PID controller for the joint angle of the robotic arm,a proportional derivative controller for the joint angle of the robotic arm,and a PID controller for the joint angle of the robotic arm based on fuzzy theory to control the angles of the five joints and ultimately achieve the end effector pose control of the robotic arm.The simulation experiment results show that the control error of the model in this paper is within 0.3 degrees,which basically meets the design requirements.