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基于自适应-模糊控制的六足机器人单腿柔顺控制
  • ISSN号：1008-973X
  • 期刊名称：浙江大学学报(工学版)
  • 时间：2014
  • 页码：1419-1426
  • 分类：TP242[自动化与计算机技术—控制科学与工程;自动化与计算机技术—检测技术与自动化装置]
  • 作者机构：[1]浙江大学流体动力与机电系统国家重点实验室,浙江杭州310027
  • 相关基金：国家自然科学基金创新研究群体科学基金资助项目（51221004）;浙江省重点科技创新团队计划资助项目（2010R50036）
  • 相关项目：机电液系统基础研究
作者： 朱雅光|金波|李伟|
关键词： 六足机器人, 足端脚力, 自适应控制, 模糊控制, 适应性, hexapod robot , tip-point force, adaptive control, fuzzy control, adaptability
中文摘要：

针对六足机器人在不同环境下进行柔顺控制的问题,提出一种基于自适应-模糊控制算法的腿部柔顺控制策略.在建立六足机器人结构模型和阻抗控制模型的基础上,推导间接自适应控制算法,并通过对该算法参数进行分析,得知该算法并不能满足在复杂环境下机器人脚力控制的要求.根据这一情况提出自适应-模糊控制算法,运用模糊控制算法对自适应控制参数进行修正,根据输入与输出的差异关系实时调整参数以得到满意的系统响应.通过对传统的间接自适应控制和改进后自适应-模糊控制算法的比较分析,结果表明,改进后的算法不仅在环境参数发生变化时能够很好跟随期望接触力,而且在躯体高度波动的情况下依然能够保证较小的接触冲击力和较高的稳态精度.这对于提高六足机器人的适应性有着重要意义.

英文摘要：

Considering the compliance control problem of hexapod robot under different environment, a control strategy based on the adaptive-fuzzy control algorithm was raised. Based on the model of robot structure and impedance control, the indirect adaptive control algorithm was derived. And through the analysis of its parameters, it could be noticed that the algorithm does not meet the requirements of the robot compliance control in a complex environment. According to this situation, the fuzzy control algorithm was used to modify the parameters of adaptive control and satisfied system response could be obtained based on the adjustment in real time according to the difference between input and output. The comparative analysis of traditional indirect adaptive control and the improved adaptive-fuzzy control algorithm was presented. It can be verified that not only desired contact force can be tracked when the environmental parameters are changing, but also small contact impact and high steady-state accuracy can be guaranteed under the fluctuations in the body height. The control strategy has great significance to enhance the adaptability of the hexapod robot.

同期刊论文项目
机电液系统基础研究
期刊论文 395 会议论文 43 专利 39 著作 2
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期刊信息
  • 《浙江大学学报：工学版》
  • 北大核心期刊（2011版）
  • 主管单位:教育部
  • 主办单位:浙江大学
  • 主编：岑可法
  • 地址：杭州市浙大路38号
  • 邮编：310027
  • 邮箱：xbgkb@zju.edu.cn
  • 电话：0571-87952273
  • 国际标准刊号：ISSN：1008-973X
  • 国内统一刊号：ISSN：33-1245/T
  • 邮发代号:32-40
  • 获奖情况:
  • 2000年获浙江省科技期刊质量评比二等奖,中国期刊方阵“双效”期刊
  • 国内外数据库收录:
  • 俄罗斯文摘杂志,美国化学文摘（网络版）,波兰哥白尼索引,德国数学文摘,荷兰文摘与引文数据库,美国工程索引,美国剑桥科学文摘,英国科学文摘数据库,日本日本科学技术振兴机构数据库,中国中国科技核心期刊,中国北大核心期刊（2004版）,中国北大核心期刊（2008版）,中国北大核心期刊（2011版）,中国北大核心期刊（2014版）
  • 被引量:21198