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中文摘要：
根据尺蠖蠕动原理，研制了一种具有三自由度的微型蠕动机器人内窥镜诊疗系统，该机器人由空气压橡胶驱动器驱动，通过气囊钳位。设计了电一气脉宽调制伺服系统控制机器人的移动，建立了微型蠕动机器人控制系统的动态模型，以一种简化的自适应模糊PID方法控制机器人，将模糊控制器辨识的输出作为PID控制器的输入不断改变控制参数。在自适应模糊PID控制下对系统进行了仿真并进行了实验，结果证实该方法弥补了模糊控制与PID控制的不足，使系统的动静特性都达到预期效果，是一种理想的气动微型蠕动机器人控制方法。
英文摘要：
A miniature endoscope inspection robot system with three degrees of freedom was designed based on earthworm movement, a pneumatic rubber actuator is used to actuate the robot, and the robot holds its position by air chambers. The dynamic model of the robotic system was built. An electro-pneumatic PWM （pulse-width modulation） pressure system was designed, which is based on a simplified adaptive fuzzy PID regulator to control the movement of the robot. The output of the fuzzy regulator is used to vary the control parameters of the PID controller in real-time. The system performance for the robot motion-trace was simulated and tested on the laboratory flat. The resuits indicate that the proposed method overcomes the shortage of fuzzy control and PID control, and makes the static and dynamic characteristics of the system achieve anticipated effect.
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