基于遗传算法的双臂机器人模糊力/位混合控制

Fuzzy Hybrid Force/Position Control of Dual-arm Robot Based on Genetic Algorithm

  • 摘要: 近年来,适用于空间站操作的冗余度双臂机器人系统技术研究得到了较多的重视.结合已有的研究基础和研究条件,本文开展了面向空间舱内作业的冗余度双臂机器人协调控制应用研究.针对双臂机器人协调操作过程中的受力问题,提出了一种基于遗传算法的双臂机器人模糊力/位混合控制策略.该方法把机器人末端的力误差通过模糊控制转变为机器人位置控制器的修正值,在不改变机器人原有位置控制器的前提下,实现力/位混合控制.利用遗传算法离线优化模糊控制规则,为了提高遗传算法的性能,总体交叉概率和变异概率都采用了自适应控制策略.最后,以冗余度双臂机器人合力协调搬箱为例,进行了力跟踪的三维仿真和实验,验证了所提出控制策略的有效性和可靠性.

     

    Abstract: Recent years,research on the technology of redundant dual-arm robot system for space-station operation gets considerable attention.Based on recent research conditions,coordinated control of the redundant dual-arm robot working inside the capsule is studied in this paper.According to the force on dual-arm robot during its coordinating task,a fuzzy hybrid force/position control strategy based on genetic algorithm is presented.The approach transforms force error of robot's end-effector into the position correction of robotic position controller through fuzzy control,so hybrid force/position control can be realized without changing the robotic position controller.The fuzzy control rules are optimized off line with genetic algorithm,and the collectivity crossover probability and the collectivity mutation probability use a self-adaptive control strategy to improve the arithmetic performance.Finally,through 3D simulation and experiment of force following in conveying a box by redundant dual-arm robot,the feasibility and applicability of the control strategy are verified.

     

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