对于完全驱动的多指巧手的层次控制架构的设计
Yinan Jin1,2, Hujiang Wang1, Han Ge1,2
1College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, China.
Biomimetics (Basel, Switzerland)
|July 25, 2025
概括
这项研究介绍了一种模糊的PID控制系统,用于使用气动人工肌肉 (PAMs) 的机器人手. 这种新的方法提高了复杂的操纵任务的控制精度和稳定性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统 控制系统
- 生物模拟学是一种生物模拟学.
背景情况:
- 巧妙的机器人手利用高自由度 (DOF) 和仿生设计来完成复杂的任务.
- 气动人工肌肉 (PAMs) 模仿人类肌和肌肉,在机器人手中提供了符合和适应性的功能.
- PAM的非线性和歇斯底里行为对实时控制的准确性和稳定性构成重大挑战.
研究的目的:
- 提出一个分层的控制架构,以优化机器人手中的PAM非线性控制.
- 解决与PAM非线性和歇斯底里相关的挑战,以提高机器人手的性能.
- 开发一个强大的控制系统,用于精确和稳定的操作多指的机器人手.
主要方法:
- 实现具有模糊PID策略的层次控制架构.
- 基于FPGA的硬件系统与多通道DAC和多重采集模块的集成,用于独立执行和实时监控20个PAM和20个连接.
- 软件开发包括一个模糊的PID算法用于基于错误和错误率的PID参数的动态调整.
主要成果:
- 在控制单个手指关节角度方面实现了高精度,误差在±1°内.
- 优秀的同步和实时性能在多指合作抓取和生物模拟运动任务中得到了证明.
- 验证模糊PID控制策略在管理PAM非线性方面的有效性.
结论:
- 拟议的模糊PID控制系统有效地管理了机器人手中的PAM非线性行为.
- 该系统满足复杂操作任务的精度和稳定性要求,支持PAM驱动的多指手的应用.
- 开发的控制架构为先进的机器人操纵提供了强大的解决方案.
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