遥操作机器人自适应模糊控制及跟踪性能研究-计算机工程与应用.pdf

Computer Engineering and Applications 计算机工程与应用 2015 ，51（3 ） 61 遥操作机器人自适应模糊控制及跟踪性能研究 1，2 1，2 2 贠今天 ，许立磊 ，桑宏强 YUN Jintian1，2 , XU Lilei1，2 , SANG Hongqiang2 1.天津市现代机电装备技术重点实验室，天津 300387 2.天津工业大学 机械工程学院，天津 300387 1.Advanced Mechatronics Equipment Technology Tianjin Area Major Laboratory, Tianjin 300387, China 2.School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin 300387, China YUN Jintian, XU Lilei, SANG Hongqiang. Research on adaptive fuzzy control and tracking performance of teleop- eration robot. Computer Engineering and Applications, 2015, 51 （3 ）：61-65. Abstract ：In this paper, an adaptive fuzzy control is proposed to improve the tracking performance for teleoperation robot. With the uncertain nonlinear factors affection of slave manipulator, the uncertainties can be compensated for slave manipulator by the method of fuzzy system approximation, which makes each of the joints track accurately according to the trajectory of master manipulator. At the same time, in order to reduce the number of fuzzy rules of the fuzzy logic system, the uncer- tainties of the slave manipulator dynamics equation will be decomposed and a new control law will be designed, which improves the robustness and stability of the system. The validity of the control scheme is verified by computer simulation, which shows that the adaptive fuzzy control strategy can achieve accurate teleoperation for slave manipulator. Key words ：teleoperation; adaptive fuzzy control; fuzzy approximation; dynamics model of slave manipulator; nonlinear 摘 要：为了提高遥操作机器人从操作手对主操作手的跟踪性能，研究了一种自适应模糊控制策略。针对从操作手 存在关节摩擦、外界干扰和负载变化不确定非线性因素问题，通过模糊系统逼近的方法，对从操作手的不确定项进 行补偿，使从操作手能够快速准确地按照主操作手的轨迹运动。为了减少模糊规则的数量，将动力学方程中的不确 定项分解并设计新的控制律，提高了系统的鲁棒性和稳定性。仿真结果验证了该控制策略的有效性，较好地实现了 对从操作手的精确遥操作。 关键词：遥操作；自适应模糊控制；模糊逼近；从操作手动力学模型；非线性 文献标志码：A 中图分类号：TP242.6 doi ：10.3778/j.issn. 1002-8331.1304-0467