基于FuzzyP的多臂机器人机械臂控制系统设计

Design of Multi-arm Robot Manipulator Control System Based on FuzzyP

摘要:

机械臂是多臂机器人的重要组成部分，针对基于姿态识别控制及位置识别控制系统受到被控量振荡影响，而导致机械臂运动轨迹控制不精准的问题，提出了基于FuzzyP的多臂机器人机械臂控制系统设计。基于FuzzyP控制系统，找到系统控制平衡点，设计系统硬件结构包含三个机械臂，共十八个自由度，简化关节控制器连线，选择直流有刷电机，采用增量型编码器，设计H桥电路，配合74ACT244增强驱动电路，利用NRF24L01无线模块获取与处理位置信息。使用FuzzyP控制器，抑制被控量振荡，控制连杆运动，完成多臂机器人机械臂控制方案设计。由实验结果可知，该系统轨迹与预期轨迹基本一致，较好解决多臂机器人机械臂对接精确定位要求。

Abstract:

The manipulator is an important part of the multi arm robot. Aiming at the problem that the control system based on attitude recognition and position recognition is affected by the oscillation of the controlled quantity, the control system of the robot arm based on Fuzzy P is proposed. Based on the fuzzy P control system, find the balance point of the system control, design the hardware structure of the system, including three mechanical arms, a total of 18 degrees of freedom, simplify the joint controller connection, select DC brush motor, use incremental encoder, design H-bridge circuit, cooperate with 74act244 enhanced drive circuit, use nRF24L01 wireless module to obtain and process position information. The fuzzy P controller is used to suppress the oscillation of the controlled variables and control the motion of the connecting rod. The experimental results show that the trajectory of the system is basically consistent with the expected trajectory, which can better meet the requirements of accurate positioning for the docking of multi arm robot manipulator.