| 遗传算法在工业机器人控制中应用研究 |
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| 引用本文： | 丁度坤,谢存禧,张铁,蒋贤海.遗传算法在工业机器人控制中应用研究[J].机械设计与制造,2009(3). |
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| 作者姓名： | 丁度坤 谢存禧 张铁 蒋贤海 |
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| 作者单位： | 华南理工大学,机械与汽车工程学院,广州,510640 |
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| 摘 要： | 在构建工业机器人实验硬件系统的基础上,对机器人控制技术进行深入的研究,忽略机器人关节间的耦合,设计单关节的PID控制器.为获取最优的控制效果,利用遗传算法进行PID参数的自整定.最后,对所设计的PID控制器进行了仿真试验,结果表明,与单纯的PID控制相比,基于遗传算法的PID控制器响应速度快,基本无超调,可满足实际作业的要求.
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| 关 键 词： | 工业机器人 机器人 机器人控制 遗传算法 |
Research of the genetic algorithm applying in the industry robot control |
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| DING Du-kun,XIE Cun-xi,ZHANG Tie,JIANG Xian-hai.Research of the genetic algorithm applying in the industry robot control[J].Machinery Design & Manufacture,2009(3). |
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| Authors: | DING Du-kun XIE Cun-xi ZHANG Tie JIANG Xian-hai |
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| Affiliation: | Faculty of Mechanical and Automobile Engineering;South China University of Technology;Guangzhou 510640;China |
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| Abstract: | The industry robot's experimental hardware system has been set up. On the basis,the robot control technology has deeply been researched. The coupling of each joint has been ignored and the PID controller of single joint has been designed. In order to attain the best control result,genetic algorithm is used to realize the PID parameter's self tuning. Finally,the simulation experiment of the designed PID controller has been caught out. The result shows that compared with the traditional PID control,the PID co... |
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| Keywords: | Industry robot Robot The robot control Genetic algorithm |
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