粒子群优化的手术机器人从手夹持力模糊控制

摘要

Mechanical structure of surgery robot hand is designed, mathematical model of surgery robot hand is established and relationship between fingers holding force and motor sports is confirmed. A PI type fuzzy controller based on particle swarm optimization design method is proposed to amend the characteristics of lower controlling precision of conventional fuzzy controller.The PI type fuzzy controller based on particle swarm optimization is achieved by initialization of the fuzzy rules by PI fuzzy simulation and optimization of the weights of the fuzzy rules and quantitative scaling factor by particle swarm algorithm. The design method solves the difficult of the detemination of the weights of the fuzzy rules and quantitative scaling factor and makes the controller inherits the merits of traditional PI controller and fuzzy controller. The simulation results show that the controller has good control performance when human tissue elastic modulus have great changes.%设计了手术机器人从手机械结构,建立了手术机器人从手的数学模型,确定了手指夹持力与电机运动的关系.针对传统模糊控制器控制精度低的不足,提出了一种基于粒子群优化的PI型模糊控制器设计方法.该方法通过PI模糊模拟进行模糊规则初始化,再以粒子群算法优化其模糊规则权值与量化比例因子,最后得到粒子群优化的PI型模糊控制器.该设计方法解决了传统模糊控制器设计中模糊规则权值与量化比例因子难以确定的问题,使设计出的控制器继承了PI控制器和传统模糊控制器的各自优点.仿真结果表明,当人体组织弹性模量产生较大变化时,该控制器具有良好的控制性能.