王斌锐, 张斌, 沈国阳, 金英连, 黎建军. 级联气动肌肉仿人肘关节建模与模糊控制[J]. 机器人, 2017, 39(4): 474-480. DOI: 10.13973/j.cnki.robot.2017.0474
引用本文: 王斌锐, 张斌, 沈国阳, 金英连, 黎建军. 级联气动肌肉仿人肘关节建模与模糊控制[J]. 机器人, 2017, 39(4): 474-480. DOI: 10.13973/j.cnki.robot.2017.0474
WANG Binrui, ZHANG Bin, SHEN Guoyang, JIN Yinglian, LI Jianjun. Modeling and Fuzzy Control of Humanoid Elbow Driven by Cascaded Pneumatic Muscles[J]. ROBOT, 2017, 39(4): 474-480. DOI: 10.13973/j.cnki.robot.2017.0474
Citation: WANG Binrui, ZHANG Bin, SHEN Guoyang, JIN Yinglian, LI Jianjun. Modeling and Fuzzy Control of Humanoid Elbow Driven by Cascaded Pneumatic Muscles[J]. ROBOT, 2017, 39(4): 474-480. DOI: 10.13973/j.cnki.robot.2017.0474

级联气动肌肉仿人肘关节建模与模糊控制

Modeling and Fuzzy Control of Humanoid Elbow Driven by Cascaded Pneumatic Muscles

  • 摘要: 针对现有单组拮抗式配置的气动肌肉关节输出力小、运动范围不足等问题,设计了一种级联气动肌肉仿人肘关节,采用2组拮抗式配置的气动肌肉驱动关节.建立了仿人肘关节模型,并设计了模糊控制器,将关节柔度C、角度作为模糊控制器的输入,上下臂比例K、PI(比例-积分)参数作为模糊控制器的输出.分别采用PI控制和模糊PI控制进行了肘关节位置跟踪实验,通过实验证明了级联方案设计的合理性以及模糊控制方法的有效性.

     

    Abstract: In view of the insufficiency of the motion range and output force of the pneumatic muscle (PM) joint driven by one group of antagonistic PMs, a humanoid elbow driven by cascaded PMs is proposed. The elbow joint is driven by two groups of antagonistic PMs. The model of the humanoid elbow joint is established, and a fuzzy controller is designed, in which the joint flexibility C and angle are taken as input, and upper and lower arm ratio K and PI (proportional-integral) parameters are taken as output. The PI control and fuzzy PI control are used to perform the elbow joint tracking experiment respectively. The experiments show that the cascaded joint design is rational and the fuzzy control method is effective.

     

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