机器人高速运动免疫控制方法研究

摘要

对高速运动机器人智能运动控制方法进行深入研究.搭建了6自由度机器人实验平台，在此基础上，提出了改进的免疫克隆算法，构建免疫PID控制器，对机器人进行实时运动控制.最后，对提出的运动控制方法进行实验分析.结果表明，所构建的免疫PID控制器，动态性能好，跟踪精度高(±0.08 mm 以内)，能满足机器人高速运动控制的要求，从而为机器人的高速运动控制提供一种新的思路.%The deep research on the robot motion intelligent control method under a high speed has been made. Firstly,the ex-perimental platform for 6-DOF robot was set up,and on this basis,the improved immune clone algorithm was proposed,and the im-mune proportional integral differential (PID)controller was set up,which was applied to the robot motion control in real time. In the end,analysis of several experiments was done to the proposed motion control method. The results show that the immune PID controller has better dynamic performance and higher tracking precision,which is less than ± 0. 08 mm. The control strategy can meet the need of robot motion control in high speed,thereby provides a new method to high speed motion control of robot.