智能控制器在机器人机械手位置控制中的应用

Designing and implement of intelligent controller in manipulator position control

以JJR 1型教学机器人为基础描述了智能控制器在机械手定位控制中的应用。对机器人机械手的臂关节进行了测试与折算,给出了其数学模型。在此基础上提出了采用模糊控制器智能自调整因子的方式来提高机械手的定位精度。仿真实验结果表明,采用此法能够克服单纯使用PID控制存在的死区和超调,使系统输出超调明显减小,定位精度得到提高。

Robot is already applied in machinery manufacture factory broadly. by the JJR-1 Teaching Robot, the application of intelligent controller was descrambled in manipulator. The parameters for the arm of JJR-1 was calculated and tested, after the math-model of the arm obtained, a method was put forward that using the intelligent fuzzy controller of adopts self-adjustable variable to overcome the phenomenon of dead-zone, over-control, and improve the location accuracy. Simulation demonstrated that the method can reduce the overflow of system output and improve the speed of reaching stability state in system.