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中文摘要：
为研究一种高速度、高精度的二自由度冗余驱动并联机器人自适应控制系统,通过建立运动学模型,基于神经内分泌甲状腺激素调节原理,设计了一种带长环、超短环结构的神经内分泌智能控制器,对机器人系统进行控制,并给出了其控制算法。仿真分析结果表明,运动学模型简单有效,使机器人运动过程中各个关节运动稳定、连续且平滑;相对于传统PID控制算法,神经内分泌智能控制算法具有较好的快速响应性、稳定性、鲁棒性、自适应性和抗干扰能力。该方法为机器人的复杂控制提出了一种新思路。
英文摘要：
For studying a high-speed and high precision adaptive control system of the 2-DOF parallel robot with redundant drives,the kine-matics model was firstly investigated,then based on the principles of neuroendocrine thyroid hormone adjustment,a neuroendocrine intelli-gence controller system was designed with long feedback and ultra-short feedback.Simulation analysis results show that the kinematics model is applied easily and each joint movement of the robot is stable,continuous and smooth.The simulation results also reveal the quick response,stability,robustness,self-adaptability and strong anti-interference ability of the neuroendocrine intelligent control algorithm relative to the conventional PID control algorithm.The proposed control method will be a new way for robot control.
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