| 基于神经内分泌的并联机器人智能控制系统 |
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| 引用本文： | 郭崇滨,郝矿荣,丁永生.基于神经内分泌的并联机器人智能控制系统[J].机电工程,2010,27(7):1-4,8. |
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| 作者姓名： | 郭崇滨 郝矿荣 丁永生 |
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| 作者单位： | 1. 东华大学,信息科学与技术学院,上海201620
2. 东华大学,信息科学与技术学院,上海201620;数字化纺织服装技术教育部工程研究中心,上海201620 |
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| 基金项目： | 国家自然科学基金资助项目，教育部高等学校博士学科点专项科研基金资助项目，上海市科学技术委员会重点基础研究资助项目，上海市人才发展资金资助项目，上海市领军人才后备人选专项资金资助项目 |
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| 摘 要： | 为研究一种高速度、高精度的二自由度冗余驱动并联机器人自适应控制系统,通过建立运动学模型,基于神经内分泌甲状腺激素调节原理,设计了一种带长环、超短环结构的神经内分泌智能控制器,对机器人系统进行控制,并给出了其控制算法。仿真分析结果表明,运动学模型简单有效,使机器人运动过程中各个关节运动稳定、连续且平滑;相对于传统PID控制算法,神经内分泌智能控制算法具有较好的快速响应性、稳定性、鲁棒性、自适应性和抗干扰能力。该方法为机器人的复杂控制提出了一种新思路。
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| 关 键 词： | 冗余驱动 并联机器人 神经内分泌 智能控制器 |
Parallel robot intelligent control system based on neuroendocrine method |
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| GUO Chong-bin,HAO Kuang-rong,DING Yong-sheng.Parallel robot intelligent control system based on neuroendocrine method[J].Mechanical & Electrical Engineering Magazine,2010,27(7):1-4,8. |
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| Authors: | GUO Chong-bin HAO Kuang-rong DING Yong-sheng |
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| Affiliation: | 1.College of Information Sciences and Technology,Donghua University,Shanghai 201620,China;2.Engineering Research Center of Digitized Textile ＆ Fashion Technology,Ministry of Education,Shanghai 201620,China) |
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| Abstract: | For studying a high-speed and high precision adaptive control system of the 2-DOF parallel robot with redundant drives,the kine-matics model was firstly investigated,then based on the principles of neuroendocrine thyroid hormone adjustment,a neuroendocrine intelli-gence controller system was designed with long feedback and ultra-short feedback.Simulation analysis results show that the kinematics model is applied easily and each joint movement of the robot is stable,continuous and smooth.The simulation results also reveal the quick response,stability,robustness,self-adaptability and strong anti-interference ability of the neuroendocrine intelligent control algorithm relative to the conventional PID control algorithm.The proposed control method will be a new way for robot control. |
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| Keywords: | redundant drive parallel robot neuroendocrine intelligent controller |
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