论文部分内容阅读
六自由度机械臂系统具有强耦合、多输入多输出、非线性的特性,且难以求解精确的动力学模型。针对上述问题,提出了一种基于GA-SVM逆系统的六自由度机械臂内模控制方法。将逆系统方法用于六自由度机械臂的解耦可以有效简化控制器的设计,为了避免逆系统方法复杂的解析过程,采用基于支持向量机(SVM)辨识逆系统模型以实现解耦,并用遗传算法(GA)优化SVM系统参数以提高模型的准确性。同时,为了弥补SVM辨识逆系统的误差以及抑制系统存在的扰动,设计内模控制器以保证系统的鲁棒性和稳定性。实验结果表明,该方法不需要知道六自由度机械臂的数学模型和内部结构,也能实现各关节位置的快速精确定位控制,且具有良好的鲁棒性,结构简单,需要调节的参数少,易于工程实现。
Six degrees of freedom robotic system with strong coupling, multiple input multiple output, nonlinear characteristics, and difficult to solve the exact dynamic model. In view of the above problems, a six-DOF manipulator internal model control method based on GA-SVM inverse system is proposed. The inverse system method is applied to the decoupling of six-degree-of-freedom manipulator, which can effectively simplify the design of the controller. In order to avoid the complex analytical process of the inverse system method, inverse system model based on support vector machine (SVM) Genetic Algorithm (GA) optimizes SVM system parameters to improve model accuracy. At the same time, in order to make up for SVM to identify the error of the inverse system and to suppress the disturbance of the system, the internal model controller is designed to ensure the robustness and stability of the system. The experimental results show that this method does not need to know the mathematical model and internal structure of six degree of freedom manipulator, but also can realize the rapid and precise positioning control of each joint position, and has good robustness, simple structure, few parameters to be adjusted, Easy to implement.