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中文摘要：
由于5自由度机械手具有不同的连接方式,其各关节的控制环不是完全独立,相互存在的耦合使得机械手运动呈现出严重的非线性特征,要得到机械手控制的精确运动轨迹比较困难。采用一种改进的传统PID控制与遗传优化的模糊控制融合的控制算法,通过利用两种控制器的并行控制结构和设置加权调节因子,根据偏差绝对值的大小,动态调整两种控制器的输出强度,两种控制器的融合输出控制5个关节的运动。实验仿真和应用表明该算法能大大提高了机械手运动轨迹的控制精度,能得到平滑的运动轨迹,具有较好的实用价值。
英文摘要：
Because the 5-freedom robot arm has different connection ways and the control loop of each joint is not completely independent, there exits the coupling effect. The coupling effect makes the robot arm motion to present serious nonlinear characteristics. It is particularly difficult to control the accurate motion trajectory of robot arm. An improved traditional PID control and fuzzy genetic optimization control algorithm was adopted. Through using the parallel control structure of two kinds of controller and a weighted adjustment factor, the control algorithm adjusted the output intensity of two controllers dynamically according to the absolute value of deviation. The fusion output of two controllers controlled the movement of 5 joints. The simulation and the application show that the algorithm can greatly improve the control precision of the robot arm trajectory and can get smooth trajectory. The proposed method has good practical value.
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