刘昱, 王涛, 范伟, 王渝. 气动肌肉群驱动球关节机器人的无模型自适应控制[J]. 机器人, 2013, 35(2): 129-134.DOI: 10.3724/SP.J.1218.2013.00129.
LIU Yu, WANG Tao, FAN Wei, WANG Yu. Model-Free Adaptive Control for the Ball-Joint Robot Driven by PMA Group. ROBOT, 2013, 35(2): 129-134. DOI: 10.3724/SP.J.1218.2013.00129.
A triaxial ball-joint robot driven by PMA (pneumatic muscle actuator) group is designed. The inverse kinematics of the robot is analyzed. On the basis of its inverse kinematics analysis, the control strategy of the PMA group based on nonlinear feedback is proposed. The system of PMA is a strongly nonlinear and time-varying self-balanced system. Because it is difficult to overcome the conflict among the regulating speed, the stability and the control accuracy with traditional control methods, an improved model-free adaptive control is introduced. Experiments show that on the premise of ensuring the stability, the control accuracy and the adjusting speed are enhanced. The system's steady-error is less than 0.3° and a satisfactory control result is obtained.
[1] 隋立明,王祖温,包钢.气动肌肉与生物肌肉的力学特性对比研究[J].机床与液压,2004,36(6):22-24. Sui L M, Wang Z W, Bao G. A comparison of mechanical properties of pneumatic muscle with biological muscle[J]. Machine Tool & Hydraulics, 2004, 36(6): 22-24.[2] Daerden F, Lefeber D. Pneumatic artificial muscles: Actuators for robotics and automation[J]. European Journal of Mechanical and Environmental Engineering, 2002, 47(1): 11-21.[3] 范伟,彭光正,高建英,等.带修正因子的自组织模糊PID控制在气动人工肌肉位置控制中的应用[J].液压与气动,2003(9):30-33. Fan W, Peng G Z, Gao J Y, et al. A self-modified fuzzy-PID controller of pneumatic muscle actuator position servo system[J]. Chinese Hydraulics and Pneumatics, 2003(9): 30-33.[4] 杨钢,李宝仁.基于CMAC的气动人工肌肉变结构位置控制研究[J].机械工程学报,2004,40(10):92-96. Yang G, Li B R. CMAC-based variable structure position control of a pneumatic muscle actuator system[J]. Chinese Journal of Mechanical Engineering, 2004, 40(10): 92-96.[5] Yaegashi K, Saga N, Satoh T. Control of robot arm using pneumatic artificial muscle with spherical joint[C]//IEEE International Conference on Mechatronics and Automation. Piscataway, NJ, USA: IEEE, 2005: 1093-1098.[6] 侯忠生.非参数模型及其自适应控制理论[M].北京:科学出版社,1999. Hou Z S. Non parametric model and its adaptive control theory[M]. Beijing: Science Press, 1999.[7] 高秀来,于恩华.人体解剖学[M].北京:北京大学医学出版社,2003. Gao X L, Yu E H. Human anatomy[M]. Beijing: Peking University Medical Press, 2003.[8] 韩京清.非线性PID控制器[J].自动化学报,1994,20(4):487-490. Han J Q. Nonlinear PID controller[J]. Acta Automatica Sinica, 1994, 20(4): 487-490.
