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1、机器人学基础机器人学基础 Fundamentals of Robotics智能科学基础系列课程国家级教学团队智能科学基础系列课程国家级教学团队“机器人学机器人学”课程课程主讲：蔡自兴主讲：蔡自兴 谢斌谢斌中南大学中南大学2010Fundamentals of Robotics1RobotHuboMade in ChinaTrained in USA2Fundamentals of RoboticsHUBO RobotHero，Im Hubo.I am a very unique robot.The more we play the more I can do!I can play games,
2、dance and even sing to you!Lets be good friends!3Fundamentals of Robotics中南大学中南大学蔡自兴，谢蔡自兴，谢 斌斌zxcai,2010机器人学基础机器人学基础第五章第五章 机器人控制机器人控制4Ch.5 Robot ControlFundamentals of RoboticsFundamentals of RoboticsChapter 5 Robot Control第五章第五章 机器人控制机器人控制5.1 Basic Principles of Robot Control Position Control of Ro
3、bots Hybrid Control of Force/Position of Robots Intelligent Control of Robots SummaryExamplesRobot HuBoPUMA 560Watch a video of BigDogPUMA 560 Precise Universal Machine for Assembly An industrial robotRobot HuBoA mobile robotDesigned in USAMade in ChinaCan play games,dance and singWatch vedio BigDog
4、Made by Boston Dynamics Co.US.A military robot which has amazing mobility and adaptability.It can climb up 35 slopes,carry more than 40 kg equipment.Impression:Kinem.+Dynam.+?10Chapter 5 Robot Control5.1 Basic Principles of Robot Control 机器人的基本控制原则机器人的基本控制原则 The issue of robot control is closely rel
5、ated to robotic kinematics and dynamics.(how learn?).From the point view of control,The robotic system is a representative redundant,multi-variable and nonlinear control system in nature,and a complex coupling dynamic system.Every control task it self is a dynamical task.机器人学基础115.1 Basic Principles
6、 of Robot ControlClassification of Controllers non-servo controlservo controlposition/speed feedback controlforce(torque)controlHybrid F-P controlsensor-based controlnonlinear control5.1.1 Basic Control Principles 5.1 Basic Principles of Robot Controladaptive controlhierarchical controloptimal contr
7、olfuzzy control neurocontrol other intelligent controls 125.1.1 Basic Control Principles Industrial robot controller can be divided into single-joint(link)controller and multi-joint(link)controller.Robot control depends on its head,that the development of the processor.Various control methods can be
8、 used according to the actual working conditions.5.1 Basic Principles of Robot Control5.1.1 Basic Control Principles13主要控制变量（Control Variables）Control variables of joints of a manipulator5.1 机器人的基本控制原则14控制层次 Control Levels Level 1：Level of AILevel 2：Level of control model Level 3：Level of servo syst
9、em5.1.1 Basic Control Principles5.1 机器人的基本控制原则5.1.1 Basic Control Principles Robot control is the control of bidirectional equation:末端执行装置的状态是由任务轴的许多参数表示的，它是机器人运动模型矢量X的分量。要控制矢量X 随时间变化的情况，即 ，它表示末端执行装置在空间的实时位置。只有当关节移动时，X 才变化。用矢量 表示关节变量与受控量关系关节变量，即 至 。各关节具有运动学模型C1至C6，这些模型构成关节矢量 ，并由各传动电动机的力矩矢量 经过变速机送到各个
10、关节。在电流或电压矢量 提供的动力作用和微处理机的控制下，这些电动机产生力矩 。16控制层次 Control Levels 1st Grade:Artificial Intelligence level2nd Grade:Control model level3rd Grade:Servo system-level5.1.1 Basic Control Principles5.1 Basic Principles of Robot Control5.1.2 Examples of Servo-control System 伺服控制系统举例伺服控制系统举例Servo driven system
11、of hydraulic cylinder175.1 机器人的基本控制原则Electro-hydraulic servo control system185.1.2 Examples of Servo-control System5.1 机器人的基本控制原则19Manipulator consists of a series of links,whose dynamic characteristics are highly non-linear.We need to build up the mathematical model to control the motor-driven mani
12、pulator.Two assumptions in the designing of model:The manipulator is an ideal rigid body without friction and gap.Only one degree of freedom for each link,either translation or rotation.5.2 Position Control of Robot 机器人的位置控制机器人的位置控制5.2 Position Control of Robot205.2.1 Modeling of D.C Control System
13、直流传动系统的建模直流传动系统的建模nTransfer function and equivalent diagram 5.2 机器人的位置控制根据电力传动原理可求得下列传递函数：根据电力传动原理可求得下列传递函数：电动机的开环传递函数，见式电枢控制直流电动机的传递函数(1)，见式 22Speed regulation of DC motor5.2 机器人的位置控制5.2.1 Modeling of DC Control System23Basic control structures Structure of Position Control 位置控制的基本结构位置控制的基本结构5.2 机器
14、人的位置控制24Servo controlstructure of PUMA Structure of Position Control5.2 机器人的位置控制25Servo control structure for PUMA robot Structure of Position Control5.2 Position Control of Robot26Servo control structure for PUMA robot Structure of Position Control5.2 Position Control of Robot275.2.3 Position Contr
15、oller of Single Joint 单关节位置控制器单关节位置控制器nStructure of Position control system5.2 Position Control of Robot28Transfer function of a single-joint controller5.2.3 Position Controller of Single Joint5.2 Position Control of Robot295.2.3 Position Controller of Single Joint5.2 Position Control of Robot30Dete
16、rminate Parameters and the Steady-State Error(SSE)Steady-State Error(SSE)5.2.3 Position Controller of Single Joint5.2 Position Control of Robot5.2.4 Position Controller with Multi-Joint 多关节位置控制器多关节位置控制器31Lagrangian dynamic equation5.2 Position Control of Robot5.2.4 Position Controller with Multi-Joi
17、nt5.2 Position Control of Robot325.2.4 Position Controller with Multi-Joint 多关节位置控制器多关节位置控制器33Compensation of Coupled Inertia 耦合惯量补偿5.2 Position Control of Robot345.3 Hybrid Position/Force Control of Robots 机器人的力和位置混合控制5.3.1 Schemes of Hybrid Position/Force Control 力和位置混合控制方案力和位置混合控制方案Active Stiffne
18、ss Control主动刚性控制 如果希望在某个方向上遇到实际约束，那么这个方向的刚性应当降低，以保证有较低的结构应力；反之，在某些不希望碰到实际约束的方向上，则应加大刚性，这样可使机械手紧紧跟随期望轨迹。于是，就能够通过改变刚性来适应变化的作业要求。5.3 Hybrid Position/Force Control of Robot355.3.1 Schemes of Hybrid ControlRaibert-Craig Position/Force Hybrid Controller雷伯特雷伯特-克雷格位置克雷格位置/力混合控制器力混合控制器5.3 Hybrid Position/For
19、ce Control of Robot36Raibert-Craig Position/Force Hybrid Controller对R-C控制器进行如下改进：在混合控制器中考虑机械手的动态影响，并对机械手所受重力及哥氏力和向心力进行补偿；考虑力控制系统的欠阻尼特性，在力控制回路中，加入阻尼反馈，以消弱振荡因素。引入加速度前馈，以满足作业任务对加速度的要求，也可使速度平滑过渡。改进后的R-C力/位置混合控制系统结构图如图所示。5.3 Hybrid Position/Force Control of Robot375.3 Hybrid Position/Force Control of Rob
20、otRaibert-Craig Position/Force Hybrid Controller385.3.1 Schemes of Hybrid Control操作空间力和位置混合控制系统5.3 Hybrid Position/Force Control of Robot5.3.2 Control Rule Synthesis of Hybrid Sys.力和位置混合控制系统控制规律的综合力和位置混合控制系统控制规律的综合位置控制规律位置控制规律 Position Control Equation of the system controller:Dynamic Equation of a
21、closed-loop system:Let395.3 Hybrid Position/Force Control of Robot40力控制规律力控制规律 Force Control令图中的位置适从选择矩阵 S=0，控制末端在基坐标系z0方向上受到反作用力。设约束表面为刚体，末端受力如图所示，那么对三连杆机械手进行力控制时有力控制选择矩阵：5 Control Rule Synthesis of Hybrid Sys.5.3 Hybrid Position/Force Control of Robot力控制规律力控制规律 Force ControlDynamic Equation of a c
22、losed-loop system:Results show that on the force control joint 1 does not work,joints 2 and 3 are effective.415.3 Hybrid Position/Force Control of Robot42力和位置混合控制规律力和位置混合控制规律 Hybrid Control设约束坐标系与基坐标系重合。如果要求作业在基坐标系的z0方向进行力控制，在某个与x0y0平面平行的约束面上进行位置控制，则适从选择矩阵为位置：力：5 Control Rule Synthesis of Hybrid Sys
23、.5.3 Hybrid Position/Force Control of Robot5.4 Intelligent Control of Robots 机器人的智能控制机器人的智能控制5.4.1 Classification of Intelligent Control 智能控制系统的分类智能控制系统的分类 递阶控制(Hierarchical Control)专家控制(Expert Control)模糊控制(Fuzzy Control)学习控制(Learning Control)神经控制(Neuro Control)进化控制(Evolution Control)435.4 Intellige
24、nt Control of Robot5.4 Intelligent Control of Robots 机器人的智能控制机器人的智能控制5.4.1 Classification of Intelligent Control 智能控制系统的分类智能控制系统的分类 递阶控制系统(Hierarchical Control System)组织级代表控制系统的主导思想，并由人工智能起控制作用。协调级是上（组织）级和下（执行）级间的接口，承上启下，并由人工智能和运筹学共同作用。执行级是递阶控制的底层，要求具有较高的精度和较低的智能，它按控制论进行控制，对相关过程执行适当的控制作用。445.4 Intel
25、ligent Control of RobotHierarchical Control System Structure of a hierarchical control systemThe control intelligence is hierarchically distributed according to the principle of increasing precision with decreasing intelligence(IPDI).455.4 Intelligent Control of Robot46hierarchical control system of
26、 PUMA 600 with vision feedback.Hierarchically Control System5.4 Intelligent Control of Robot475.4.1 Classification of Intel.Control专家控制系统专家控制系统(Expert Control System)Almost all of the expert control system(controller)contains the knowledge base(知识库),reasoning engineer(推理机),rule set(控制规则集)and/or cont
27、rol algorithm.5.4 Intelligent Control of Robot485.4.1 Classification of Intel.Control模糊控制系统模糊控制系统(Fuzzy Control System)A new mechanism of control law of knowledge-based(rule-based)and even language-description.An improved alternative method to non-linear control.5.4 Intelligent Control of Robot495.4
28、.1 Classification of Intel.Control学习控制系统学习控制系统(Learning Control System)Four main functions of learning control:search,recognition,memory and reasoning.5.4 Intelligent Control of RobotOn-line learning control systemoff-line learning control system505.4.1 Classification of Intel.Control神经控制系统神经控制系统(Ne
29、uro-Control System)Control system based on Artificial Neural Network(ANN-based control),abbreviate as neural control or NN control.5.4 Intelligent Control of RobotSupervised neural controller structure515.4.1 Classification of Intel.Control进化控制系统进化控制系统(Evolution Control System)Evolution and feedback
30、 are two basic regulatory mechanisms complementary to each other.Combination of the two mechanisms produces a new intelligent control method-evolutionary control.Evolutionary control simulate the evolution mechanisms of biosphere,improve the autonomy,creativity and learning ability of the system.5.4
31、 Intelligent Control of Robot525.4.2 Adaptive Fuzzy Control of Robots 机器人的自适应模糊控制机器人的自适应模糊控制Fuzzy control is the most widely used intelligent control method:The PID fuzzy control,self-organizing fuzzy control,self-tuning fuzzy control,self-learning fuzzy control,expert fuzzy control,etc.5.4 Intellig
32、ent Control of Robot535.4.3 Neurocontrol of Multi-fingered Hands 多指灵巧手的神经控制Multi-fingered hand is also called multi-joint robot,generally made of a palm and 3 to 5 fingers,while each finger have 3 to 4 joints.Multi-fingered hand is smaller,with more degrees of freedom,and more flexible than normal r
33、obot.Multi-fingered hand get much stronger non-linear characteristic than ordinary robot.5.4 Intelligent Control of Robot545.4.3 Neurocontrol of Multi-fingered HandController design based on neural network Hardware of control systemSoftware of control systemThe host software written in C language,se
34、rvo controller software written in assembly language.5.4 Intelligent Control of Robot555.4.3 Neurocontrol of Multi-fingered Hand5.4 Intelligent Control of Robot565.5 Summary 小结Basic principles of robot controlClassification of robot controllerThe relationship between various control variables and th
35、e main control hierarchyPosition controlJoint space control structureCartesian space control structurePUMA robot servo control structureSingle-joint position controller and multi-joint position controllerHybrid Force/Position ControlActive stiffness controlR-C ControlSynthesis problem of Hybrid control system5.5 SummaryIntelligent ControlHierarchical ControlExpert ControlFuzzy ControlLearning ControlNeural ControlEvolution ControlAdaptive Fuzzy Control of RobotNeural Control of multi-fingered hands575.5 Summary5.5 SummaryThank youFor Attention!Fundamentals of Robotics58