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近年来,适用于空间站操作的冗余度双臂机器人系统技术研究得到了较多的重视.结合已有的研究基础和研究条件,本文开展了面向空间舱内作业的冗余度双臂机器人协调控制应用研究.针对双臂机器人协调操作过程中的受力问题,提出了一种基于遗传算法的双臂机器人模糊力/位混合控制策略.该方法把机器人末端的力误差通过模糊控制转变为机器人位置控制器的修正值,在不改变机器人原有位置控制器的前提下,实现力/位混合控制.利用遗传算法离线优化模糊控制规则,为了提高遗传算法的性能,总体交叉概率和变异概率都采用了自适应控制策略.最后,以冗余度双臂机器人合力协调搬箱为例,进行了力跟踪的三维仿真和实验,验证了所提出控制策略的有效性和可靠性.
In recent years, more and more attention has been paid to the research of redundant dual-arm robot system applied to the operation of space station.Based on the existing research foundation and research conditions, this dissertation carries out the coordination of redundant dual-arm robot for spacecraft operation Control Applied Research.Aiming at the problem of the force in the coordinated operation of two-arm robots, a hybrid fuzzy / bit control strategy based on genetic algorithm is proposed for the two-arm robots.The method converts the force error of the robot end into a robot through fuzzy control Position controller to realize force / bit hybrid control without changing the original position controller of the robot.Using genetic algorithm to optimize the fuzzy control rules offline, in order to improve the performance of genetic algorithm, the overall crossover probability and mutation probability are both The adaptive control strategy is adopted.Finally, a three-dimensional simulation and experiment of force tracking are carried out by using the redundant dual-arm robots coordinated with one another to verify the effectiveness and reliability of the proposed control strategy.