论文摘要
A bionic flexible manipulator driven by pneumatic muscle actuator（PMA） can better reflect the flexibility of the mechanism.Current research on PMA mainly focuses on the modeling and control strategy of the pneumatic manipulator system.Compared with traditional electro-hydraulic actuators,the structure of PMA is simple but possesses strong nonlinearity and flexibility,which leads to the difficulty in improving the control accuracy.In this paper,the configuration design of a bionic flexible manipulator is performed by human physiological map,the kinematic model of the mechanism is established,and the dynamics is analyzed by Lagrange method.A fuzzy torque control algorithm is designed based on the computed torque method,where the fuzzy control theory is applied.The hardware experimental system is established.Through the co-simulation contrast test on MATLAB and ADAMS,it is found that the fuzzy torque control algorithm has better tracking performance and higher tracking accuracy than the computed torque method,and is applied to the entity control test.The experimental results show that the fuzzy torque algorithm can better control the trajectory tracking movement of the bionic flexible manipulator.This research proposes a fuzzy torque control algorithm which can compensate the error more effectively,and possesses the preferred trajectory tracking performance.
论文目录
文章来源
类型: 期刊论文
作者: Kai Liu,Yining Chen,Jiaqi Xu,Yang Wu,Yonghua Lu,Dongbiao Zhao
来源: Chinese Journal of Mechanical Engineering 2019年05期
年度: 2019
分类: 工程科技Ⅱ辑
专业: 机械工业
单位: College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics
基金: Supported by National Natural Science Foundation of China(Grant No.51405229),Jiangsu Provincial Natural Science Foundation of China(Grant No.BK20151470)
分类号: TH138
页码: 90-104
总页数: 15
文件大小: 5990K
下载量: 56