基于模糊控制的3R欠驱动机器人轨迹跟踪研究∗

摘要

To improve the control effect of the trajectory tracking of a 3R horizontal underactuated manipula-tor, a kind of Fuzzy-PID compound controller is designed, which realizes the control by using the dynamic coupling between the actuated and the underactuated joints. It is a dual-mode system. If the error is higher than the valve values, the fuzzy controller works in order to obtain a good transient performance. If the error is lower than the valve values, the PID controller works in order to obtain a good steady state performance. The virtual prototype system of the 3R horizontal underactuated manipulator was created in ADAMS, and the control system is designed in MATLAB. The co-simulation based on MATLAB and ADAMS for the ro-bot was realized by the interface module between them. The results of the co-simulation show that the Fuzz-y-PID compound controller can effectively reduce the control error and improve dynamic property of the sys-tem.%对水平运动的3 R欠驱动机器人轨迹跟踪控制问题进行了研究。设计了Mamdani型模糊控制器和一种复合型Fuzzy-PID控制器，利用主、被动关节的动力学耦合规律实现对末端点的轨迹跟踪控制。复合控制器设有两个模态，当误差大于所设阀值时采用Mamdani型模糊控制以获得较高的瞬态性能，当误差小于所设阀值时采用PID控制以获得较高的稳态性能。在ADAMS中建立欠驱动机器人的虚拟样机模型，在MATLAB中建立复合型模糊控制系统，通过二者的联合仿真进行验证。结果表明：和Mamdani型模糊控制相比，复合型Fuzzy-PID控制器消除了系统的稳态误差，提高了轨迹跟踪的控制精度。