摘要
根据并联机器人的特点和仿真现状,提出一种M IMO模糊控制方法,对三自由度并联机器人进行控制和联合仿真。以Dealte并联机器人为例,应用Pro/E和ADAMS软件建立其机械系统模型,应用MATLAB软件建立M IMO模糊控制器和控制系统模型,并按照给定的目标轨迹对Dealte并联机器人进行模糊控制,在ADAMS/MATLAB软件里实现联合仿真。结果表明:采用模糊控制方法可以有效地减低控制误差,提高控制精度,减少响应时间,仿真结果较为理想。这种控制方法对更复杂并联机器人的控制具有指导意义。
On the basis of parallel robot characteristics and the status quo simulation,a fuzzy control method was presented to control 3-DOF parallel robot and co-simulation.Taking Dealta robot as example,its mechanical system model was built by Pro/E and ADAMS,the fuzzy controller and its control system model were built by MATLAB.The co-simulation was realized in accordance with a given target trajectory based on ADAMS/MATLAB.The results show that the fuzzy control method can effectively reduce control error and improve control accuracy,simulation result is more satisfactory.This approach also has guiding significance for more complex control of parallel robot.
出处
《机床与液压》
北大核心
2011年第9期122-125,共4页
Machine Tool & Hydraulics
基金
河北省科技支撑计划项目(07393522D)
