CAJ | 학술논문

研究机器人的自抗扰控制策略，先完成两连杆机械臂的正弦运动控制，再实现六自由度机器人对做圆周运动的目标的跟踪控制，构建了利用Simulink进行仿真的系统模型。针对控制器的参数选择和优化问题，引入改进的人工鱼群算法，编写了算法的Matlab程序，通过代码调用Simulink模型并实时更新系统参数，经过大量的仿真实验，达到了预期目标。实验结果验证了算法的有效性。研究成果对于优化机器人的控制方法具有一定的参考价值。
연구궤기인적자항우공제책략，선완성량련간궤계비적정현운동공제，재실현륙자유도궤기인대주원주운동적목표적근종공제，구건료이용Simulink진행방진적계통모형。침대공제기적삼수선택화우화문제，인입개진적인공어군산법，편사료산법적Matlab정서，통과대마조용Simulink모형병실시경신계통삼수，경과대량적방진실험，체도료예기목표。실험결과험증료산법적유효성。연구성과대우우화궤기인적공제방법구유일정적삼고개치。
The robot control strategy is researched. The sinusoidal motion control of the two-link manipulator is completed firstly and then the circular motion target tracking control of six degree-of-freedom robot is achieved. The Simulink models of control system are con-structed. To solve the problem of setting and optimizing controller parameters,the improved artificial fish swarm algorithm is introduced and the Matlab program of the algorithm is wrote. Simulink models are called by the code and system parameters are updated in real-time. After a lot of simulation experiments,the desired goal is achieved and the simulation results verify the effectiveness of the proposed algorithm. The research results have a certain reference value for optimizing control method of robot.