基于细菌觅食算法的嵌入式机械臂角度控制器设计

Design of an embedded robotic arm angle controller based on bacterial foraging algorithm

摘要:

进行机械臂角度控制器设计过程中,为提高机器人机械臂灵活性,降低关节角度控制误差,设计一种细菌觅食算法的嵌入式机械臂角度控制器。首先,构建机械臂动力学模型以获取机械臂的柔性特征及其关节位置,根据获取的信息确定角度控制器的硬件逻辑结构和算法。然后,使用ARM微处理器嵌入式操作系统,设计包含移动控制终端和机械臂控制端的控制器硬件结构。最后,采用细菌觅食算法优化控制器参数,并实现代码完成机器人机械臂角度的精准跟踪控制。仿真分析结果表明:所提方法具有较高的位姿跟踪精度、角度控制误差小、稳定性强,能够保证机械臂关节角度无超调,具有极高的机器工程应用价值。

Abstract:

In the process of designing a robotic arm angle controller, in order to improve the flexibility of the robotic arm and reduce joint angle control errors, an embedded robotic arm angle controller based on a bacterial foraging algorithm is designed. Firstly, construct a dynamic model of the robotic arm to obtain the flexible features and joint positions of the robotic arm, and determine the hardware logic structure and algorithm of the angle controller based on the obtained information. Then, using the ARM microprocessor Embedded operating system, the hardware structure of the controller including the mobile control terminal and the manipulator control terminal is designed. Finally, the bacterial foraging algorithm is used to optimize the controller parameters, and the code is implemented to accurately track and control the angle of the robotic arm. The simulation analysis results show that the proposed method has high pose tracking accuracy, small angle control error, strong stability, and can ensure that the joint angle of the robotic arm is not overshoot, which has high machine engineering application value.