基于神经内分泌的并联机器人智能控制系统*

作者：郭崇滨1,郝矿荣1,2 *,丁永生1,2 日期：2010-09-08/span> 浏览：3747 查看PDF文档

基于神经内分泌的并联机器人智能控制系统*
郭崇滨1,郝矿荣1,2 *,丁永生1,2
（1.东华大学 信息科学与技术学院，上海 201620； 2.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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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。
关键词：冗余驱动；并联机器人；神经内分泌；智能控制器
中图分类号：TH69；TP242 文献标识码：A文章编号：1001-4551(2010)07-0001-05

Parallel robot intelligent control system based on neuroendocrine method
GUO Chongbin1, HAO Kuangrong1,2, DING Yongsheng1,2
(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 kinematics model was firstly investigated, then based on the principles of neuroendocrine thyroid hormone adjustment, a neuroendocrine intelligence 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.
Key words: redundant drive; parallel robot; neuroendocrine; intelligent controller