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设计了一种由气动肌肉群驱动的三轴球关节机器人,并对其进行逆运动学分析.根据该机器人的运动学逆解,提出了基于非线性反馈的气动肌肉群控制策略.气动肌肉系统是一个强非线性时变的自平衡系统,鉴于传统控制方法难以克服控制精度、响应速度和稳定性之间的矛盾,引入改进型无模型自适应控制器.实验证明,在保证稳定性的前提下,控制器提高了系统的调节速度和控制精度,使得系统的稳态误差小于0.3,取得了良好的控制效果.
A three-axis spherical joint robot driven by pneumatic muscle group was designed and its inverse kinematics was analyzed.According to the kinematic inverse solution of the robot, a pneumatic muscle group control strategy based on nonlinear feedback was proposed.Pneumatic muscle system Is a strong non-linear time-varying self-balancing system. In view of the traditional control method is difficult to overcome the contradiction between control accuracy, response speed and stability, the introduction of improved model-free adaptive controller. Experiments show that in ensuring the stability of the premise Under the controller to improve the system regulation speed and control accuracy, making the system steady-state error less than 0.3, and achieved good control effect.