多约束条件下机械臂关节轨迹模糊控制算法

将单一约束条件下冗余机械臂关节角速度向量算法与模糊推理方法有效结合,实现多个约束条件下冗余机械臂关节角速度向量轨迹的控制。根据末端执行器的方向、灵活性、机械臂与障碍物的距离等约束条件的重要性,将多个约束条件排定先后次序。综合所有传感器的信息,由模糊推理确定某一时刻需要优化的约束条件,以及对每个约束条件的执行程度,使得在完成主要任务的前提下,所有约束条件都得到最大限度满足。仿真结果证明了所提出算法的有效性。

Fuzzy Control Algorithm for Manipulator Joint Trajectory Based on Multi-Constraints

The vector trajectory of the redundant manipulator joint angular velocity is regulated based on multi-restrictions.This is realized by integrating the fuzzy reasoning theory into the joint angular velocity vector regulation algorithm of the redundant manipulator under single restriction.The direction of the end-effector,the distance of the manipulator to the roadblock,maneuverability,etc.are the restrictions.They are arranged in a sequence of their importance.Considering outputs of all the sensors,the restriction to be optimized is selected by the outcome of fuzzy reasoning at any moment,and the degree of execution of the restriction is decided by fuzzy reasoning.Therefore,all the restrictions are fulfilled under the main task is executed.Simulation results show that the algorithm is effective.