Single-connecting-rod manipulator fuzzy control algorithm based on stochastic system under output limitation and input time lag

A fuzzy control algorithm and random system technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., and can solve problems such as input delay

Active Publication Date: 2021-02-09
NORTHEASTERN UNIV
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  • Abstract
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Problems solved by technology

[0005] In view of this, the present invention proposes a kind of fuzzy controller based on stochastic system design, by introducing Pade approximation technology and nonlinear transformation to solve the problem of robot system console input delay and output limitation, and desig

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  • Single-connecting-rod manipulator fuzzy control algorithm based on stochastic system under output limitation and input time lag
  • Single-connecting-rod manipulator fuzzy control algorithm based on stochastic system under output limitation and input time lag
  • Single-connecting-rod manipulator fuzzy control algorithm based on stochastic system under output limitation and input time lag

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Embodiment Construction

[0059] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0060] Such as Figure 1-3 , the present invention is a fuzzy control algorithm for a single-link manipulator based on a stochastic system under a limited output and input time-lag, comprising the following steps:

[0061] First, the output of the system is processed using a nonlinear transformation:

[0062] The first-order state X of the original system 1 That is, Y is constrained in the interval (-k c ,k c ), using the nonlinear transformation method proposed by the present invention to process as follows

[0063]

[0064] The reference signal is transformed into the following form

[0065]

[0066] The remaining states of each order are defined as x i , i=2,...,n, its form is the same as X in the above mathematical model i correspond to equal.

[0067] The input delay of the manipulator system controller can be processed by th...

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Abstract

The invention discloses a single-connecting-rod manipulator fuzzy control algorithm based on a stochastic system under output limitation and input time lag. The single-connecting-rod manipulator fuzzycontrol algorithm is composed of a fuzzy self-adaptive controller, a visual sensor, a mechanical arm control armature and a tail end dexterous hand. According to the single-connecting-rod manipulatorfuzzy control algorithm, a fuzzy logic system is utilized, the fuzzy adaptive controller is designed for a manipulator system model with random disturbance and high nonlinearity, and a correspondingadaptive algorithm is designed, so that a reference signal and an operation target can still be accurately tracked under the conditions that the input delay and the output signal of the controller arelimited and various torque random disturbances occur during network control.

Description

technical field [0001] The invention designs a fuzzy control algorithm for a single-link manipulator based on a stochastic system under limited output and input time lag, and belongs to the technical field of manipulator structure and control Background technique [0002] Nowadays, with the rapid development of science and technology, robot technology is slowly emerging. With its wide application range, high flexibility and ability to work in extreme environments, it has become one of the indispensable technical fields for the progress and development of human society. . In related technologies, manipulators are widely used in machinery manufacturing, aerospace, medicine, atomic energy and other fields, and play a vital role in automated production. During the force-bearing movement of the manipulator, it interacts with the external environment and completes specified tasks through contact, such as grinding, drilling, polishing, and grasping. In the force movement, the man...

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Application Information

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IPC IPC(8): B25J9/16G06F17/18
CPCB25J9/1628B25J9/1602G06F17/18
Inventor 王迎春张佳鑫杨珺郑煜仇小洁李海峰柴琦姚禹池朱保鹏
Owner NORTHEASTERN UNIV
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