并联六自由度机器人智能控制算法的研究

并联六自由度机器人在许多行业有着非常好的应用前景，其特殊结构给机器人带来许多其它机器人不具备的优点，但是也给机器人的精确控制造成了困难。机器人运动时每个液压缸上分配的负载是变化的，因此每个液压伺服回路的受力、频率等系统参数也是变化的，常用的控制算法很难实现系统的精确控制。为了解决该问题，文章在建立了系统数学模型的基础上，设计一种采用双链交叉算子的遗传算法来荻取模糊控制的经验，实现对机器人的智能模糊控制。仿真实验表明：该控制算法能够比较精确地控制并联机器人，效果要优于一般的控制算法，并且操作简单、智能程度高。

The study of intelligent control algorithm of six - freedom - parallel - robot

The Six-Freedom-Parallel-Robot have nice application foreground. Because of its special structure, it has the many advantages, which other kind of robots don't have. But the difficulty of control causes by its structure. When the robot moving, the load of every Hydraulic vat changes. So the parameters of system, such as frequency and force, change too. The normal control algorithms are difficult to realize the high precision control. So the math model of system is built. And Based it, gene algorithm of two-chain-crossover-operator is designed to acquire knowledge of the fuzzy control. The simulation experiments show that the algorithm can control parallel robot in the high precision and has good intelligence, the control results are better than other control methods.