基于遗传算法的双臂机器人模糊力位混合控制.PDFVIP

30 4 ROBOT Vol.30, No.4 2008 7 July, 2008 1002-0446(2008)04-0318-08 / 1 2 1. 100083 2. 100083 / / / TP242.6 A Fuzzy Hybrid Force/Position Control of Dual-arm Robot Based on Genetic Algorithm 1 2 ZHOU Jun , DING Xi-lun (1. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China; 2. School of Mechanical Engineering and Automation, Beihang University, Beijing 100083, China) Abstract: Recent years, research on the technology of redundant dual-arm robot system for space-station operation gets considerable attention. Based on recent research conditions, coordinated control of the redundant dual-arm robot working inside the capsule is studied in this paper. According to the force on dual-arm robot during its coordinating task, a fuzzy hybrid force/position control strategy based on genetic algorithm is presented. The approach transforms force error of robot’s end-effector into the position correction of robotic position controller through fuzzy control, so hybrid force/position control can be realized without changing the robotic position controller. The fuzzy control rules are optimized off line with genetic algorithm, and the collectivity crossover probability and the collec