单自由度磁悬浮微动机器人的智能控制

INTELLIGENT CONTROL FOR MAGNETIC LEVITATION SINGLE FREEDOM MICRO-MANIPULATOR

  • 摘要: 提出了一种利用磁力作为机器人运动驱动的新型微动机器人,研究了单自由度微动机器人的工作原理,研究了微动机器人的控制系统,系统包括分析了位移传感器、电磁铁、功率驱动电路、A/D和D/A转换卡等.提出了一种双CMAC的智能控制方式,并用C++和Matlab语言编写了控制程序,经过实验证明所研制的系统能够满足机器人的运动控制要求.

     

    Abstract: This paper presents a new type of micro manipulator driven by magnetic force. The principle of a single freedom micro manipulator is introduced. The control system of the micro manipulator is researched, which consists of displacement sensor, electro magnet, driver circuit, A/D and D/A cards. Intelligent control method of dual CMAC is put forword.The control program is compiled with C++ and Matlab language. The experiment result indicates that the system can meet the control requirement for the maqnipulator movement.

     

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