CN107717986A - A kind of control method of intelligent robot - Google Patents
A kind of control method of intelligent robot Download PDFInfo
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- CN107717986A CN107717986A CN201710876893.XA CN201710876893A CN107717986A CN 107717986 A CN107717986 A CN 107717986A CN 201710876893 A CN201710876893 A CN 201710876893A CN 107717986 A CN107717986 A CN 107717986A
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- controller
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- fuzzy
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Manipulator (AREA)
- Feedback Control In General (AREA)
- Numerical Control (AREA)
Abstract
The invention discloses a kind of control method of intelligent robot, the intelligent robot control method is divided into PID controller, hierarchical intelligent controller, fuzzy controller and nerve network controller, and the time of movement position, posture and track, operation order and action is stored in storage module by PID controller, hierarchical intelligent controller, fuzzy controller and nerve network controller by programming；The technology of control machine people includes open modular control system, the controller system of modularization stratification, the fault diagnosis of robot and security maintenance system and Networked Robot control system.The control method of the intelligent robot, by providing the intelligent control framework and theoretical system of renewal, firm theoretical foundation is laid for the intelligent control of robot, stability, robustness and the dynamic characteristic of intelligence control system intactly and are systematically studied, constructs the robot control system of new generation based on model.
Description
Technical field
The present invention relates to Robert controller technical field, specially a kind of control method of intelligent robot.
Background technology
Robot is the automatic installations for performing work.It can both receive mankind commander, can run advance volume again
The program of row, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Its task is assistance or the substitution mankind
The work of work, such as production industry, construction industry, or dangerous work.The intelligent method of traditional robot has office in itself
It is sex-limited, there is the problem of many to need further explore and study during being controlled.
The content of the invention
It is an object of the invention to provide a kind of control method of intelligent robot, to solve existing technological deficiency and not
The technical requirements that can reach.
To achieve the above object, the present invention provides following technical scheme：A kind of control method of intelligent robot, its feature
It is：The intelligent robot control method is divided into PID controller, hierarchical intelligent controller, fuzzy controller and nerve
Network controller, PID controller, hierarchical intelligent controller, fuzzy controller and nerve network controller will by programming
The time of movement position, posture and track, operation order and action is stored in storage module；The technology of control machine people includes
Open modular control system, the controller system of modularization stratification, the fault diagnosis of robot and security maintenance system
System and Networked Robot control system；
The modular control system of opening uses Distributed C PU computer configuations, and CPU computer structure is divided into machine
Device people controller, motion controller, Phototube Coupling I/O control panels, sensor process plate and programming teaching box, robot controller
Communicated with programming teaching box by serial ports/CAN, the master computer of robot controller completes the motion rule of robot
Draw, the function such as interpolation and position servo and master control logic, digital I/O, sensor processing, and program teaching box and complete information
Display and the input of button；
The controller system of the modularization stratification is using layering and Modular Structure Design, whole controller software system
System is divided into three levels：Hardware driving layer, core layer and application layer, in system inside at all levels by several function phases to right
Vertical module composition, these functional modules cooperate the function of realizing that the level is provided jointly；
The fault diagnosis of the robot and security maintenance system are diagnosed to robot fault by various information,
And respective dimension shield is carried out, ensure the safety in utilization of robot；
There is the networking work(of serial ports, fieldbus and Ethernet in the Networked Robot control system on controller
Can, available for the communication between robot controller with robot controller with host computer, it is easy to carry out robot production line
Monitoring, diagnosis and management.
Preferably, the PID controller is the error according to system, and proportion of utilization, integration, difference gauge calculate controlled quentity controlled variable pair
What robot was controlled；When the structure and parameter of controlled device can not be grasped completely, or cannot get accurate mathematical modeling,
When other technologies of control theory are difficult to use, problem can quickly be released using PID technologies.
Preferably, by tissue class, coordination level, execution level, three-level forms the hierarchical intelligent controller altogether；Tissue class
Effect be decision-making and planning tasks；Coordinate level being performed for task is identified, be each telegon point by allocator
With corresponding task and suitable rate-determining steps are selected, and corresponding feedback information is produced for tissue class；It is control system to perform level
The hardware system of system, is the executing agency of control system, and its control object is joined directly together.
Preferably, the fuzzy controller is based on fuzzy set theory, fuzzy logic inference and Fuzzy Linguistic Variable；
Fuzzy control is the provision of a kind of new mechanism for realizing the control law based on natural language description rule.
Preferably, the nerve network controller is to use ANN Control, ANN Control in the controls
It can fully approach any nonlinear characteristic, distributed variable-frequencypump mechanism, self study and adaptive ability, data fusion ability,
It is suitable for multi-variable system, multivariable processing can be carried out.
Compared with prior art, beneficial effects of the present invention are as follows：
The intelligent control framework and theoretical system of renewal are provided, firm theoretical base is laid for the intelligent control of robot
Plinth, the Unify legislation of control knowledge and control system is established, intactly and systematically study stability, the Shandong of intelligence control system
Rod and dynamic characteristic, construct the robot control system of new generation based on model.
Embodiment
Below in conjunction with the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that
Described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Based on the implementation in the present invention
Example, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, is belonged to
The scope of protection of the invention.
The present invention provides a kind of technical scheme：A kind of control method of intelligent robot, it is characterised in that：The robot
Intelligent control method is divided into PID controller, hierarchical intelligent controller, fuzzy controller and nerve network controller, PID controls
Device, hierarchical intelligent controller, fuzzy controller and nerve network controller processed are by programming movement position, posture and rail
Mark, operation order and the time of action are stored in storage module；The technology of control machine people includes open modular control
System processed, the controller system of modularization stratification, the fault diagnosis of robot and security maintenance system and Networked Robot
Control system；
The modular control system of opening uses Distributed C PU computer configuations, and CPU computer structure is divided into machine
Device people controller, motion controller, Phototube Coupling I/O control panels, sensor process plate and programming teaching box, robot controller
Communicated with programming teaching box by serial ports/CAN, the master computer of robot controller completes the motion rule of robot
Draw, the function such as interpolation and position servo and master control logic, digital I/O, sensor processing, and program teaching box and complete information
Display and the input of button；
The controller system of the modularization stratification is using layering and Modular Structure Design, whole controller software system
System is divided into three levels：Hardware driving layer, core layer and application layer, in system inside at all levels by several function phases to right
Vertical module composition, these functional modules cooperate the function of realizing that the level is provided jointly；
The fault diagnosis of the robot and security maintenance system are diagnosed to robot fault by various information,
And respective dimension shield is carried out, ensure the safety in utilization of robot；
There is the networking work(of serial ports, fieldbus and Ethernet in the Networked Robot control system on controller
Can, available for the communication between robot controller with robot controller with host computer, it is easy to carry out robot production line
Monitoring, diagnosis and management.
PID controller is the error according to system, and proportion of utilization, integration, difference gauge calculate controlled quentity controlled variable and robot carried out
Control；When the structure and parameter of controlled device can not be grasped completely, or cannot get accurate mathematical modeling, control theory
When other technologies are difficult to use, problem can quickly be released using PID technologies.
Hierarchical intelligent controller is by tissue class, coordination level, performing level, three-level forms altogether；The effect of tissue class is decision-making
And planning tasks；Coordinate level being performed for task is identified, be that each telegon distributes corresponding task by allocator
With select suitable rate-determining steps, and produce corresponding feedback information for tissue class；The hardware system that level is control system is performed,
It is the executing agency of control system, its control object is joined directly together.
Fuzzy controller is based on fuzzy set theory, fuzzy logic inference and Fuzzy Linguistic Variable；Fuzzy control exists
In provide it is a kind of realize based on natural language description rule control law new mechanism.
Nerve network controller is to use ANN Control in the controls, and ANN Control, which can be approached fully, appoints
Meaning nonlinear characteristic, distributed variable-frequencypump mechanism, self study and adaptive ability, data fusion ability, are suitable for multivariable
System, multivariable processing can be carried out.
A kind of control method of intelligent robot of the present invention is in robot system by installing with general sexual function
Awareness apparatus, by processing, various scenes can be identified；On this basis, using cognitive techniques, scene can be entered
Row understands；By the understanding to scene, robot goes to complete to instruct using the mechanism of versatility.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (5)
- A kind of 1. control method of intelligent robot, it is characterised in that：The intelligent robot control method is divided into PID control Device, hierarchical intelligent controller, fuzzy controller and nerve network controller, PID controller, hierarchical intelligent control Device, fuzzy controller and nerve network controller by program by movement position, posture and track, operation order and action when Between be stored in storage module；The technology of control machine people includes open modular control system, modularization stratification Controller system, the fault diagnosis of robot and security maintenance system and Networked Robot control system；The modular control system of opening uses Distributed C PU computer configuations, and CPU computer structure is divided into robot Controller, motion controller, Phototube Coupling I/O control panels, sensor process plate and programming teaching box, robot controller and volume Journey teaching box is communicated by serial ports/CAN, the motion planning of the master computer completion robot of robot controller, Interpolation and the function such as position servo and master control logic, digital I/O, sensor processing, and program teaching box and complete the aobvious of information Show the input with button；The controller system of the modularization stratification is using layering and Modular Structure Design, whole controller software system point For three levels：Hardware driving layer, core layer and application layer, in system inside at all levels by several function phases to opposition Module forms, and these functional modules cooperate the function of realizing that the level is provided jointly；The fault diagnosis of the robot, by various information, is diagnosed to robot fault, gone forward side by side with security maintenance system The corresponding safety in utilization safeguarded, ensure robot of row；There is the network savvy of serial ports, fieldbus and Ethernet in the Networked Robot control system on controller, can For between robot controller and robot controller with host computer communication, be easy to be monitored robot production line, Diagnosis and management.
- A kind of 2. control method of intelligent robot according to claim 1, it is characterised in that：The PID controller is According to the error of system, proportion of utilization, integration, difference gauge calculate what controlled quentity controlled variable was controlled to robot；When controlled device Structure and parameter can not be grasped completely, or when cannot get accurate mathematical modeling, when other technologies of control theory are difficult to use, Problem can quickly be released using PID technologies.
- A kind of 3. control method of intelligent robot according to claim 1, it is characterised in that：The hierarchical intelligence Controller is by tissue class, coordination level, performing level, three-level forms altogether；The effect of tissue class is decision-making and planning tasks；It is right to coordinate level Being performed for task is identified, and is that each telegon distributes corresponding task and the suitable control step of selection by allocator Suddenly, and for tissue class produce corresponding feedback information；The hardware system that level is control system is performed, is the execution machine of control system Structure, its control object are joined directly together.
- A kind of 4. control method of intelligent robot according to claim 1, it is characterised in that：The fuzzy controller is Based on fuzzy set theory, fuzzy logic inference and Fuzzy Linguistic Variable；Fuzzy control is the provision of a kind of realize and is based on The new mechanism of the control law of natural language description rule.
- A kind of 5. control method of intelligent robot according to claim 1, it is characterised in that：The ANN Control Device is to use ANN Control in the controls, and ANN Control can fully approach any nonlinear characteristic, distributed Parallel processing mechanism, self study and adaptive ability, data fusion ability, are suitable for multi-variable system, can carry out at multivariable Reason.
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| CN201710876893.XA CN107717986A (en) | 2017-09-25 | 2017-09-25 | A kind of control method of intelligent robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108185914A (en) * | 2018-04-23 | 2018-06-22 | 广东艾可里宁机器人智能装备有限公司 | cleaning robot control system and control method |
| CN108942935A (en) * | 2018-07-24 | 2018-12-07 | 南京邮电大学 | Single arm robot adaptive controller and control method based on output position |
| CN109407518A (en) * | 2018-12-20 | 2019-03-01 | 山东大学 | The autonomous cognitive approach of home-services robot operating status and system |
| CN110480635A (en) * | 2019-08-09 | 2019-11-22 | 中国人民解放军国防科技大学 | A kind of control method and control system for multirobot |
-
2017
- 2017-09-25 CN CN201710876893.XA patent/CN107717986A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108185914A (en) * | 2018-04-23 | 2018-06-22 | 广东艾可里宁机器人智能装备有限公司 | cleaning robot control system and control method |
| CN108942935A (en) * | 2018-07-24 | 2018-12-07 | 南京邮电大学 | Single arm robot adaptive controller and control method based on output position |
| CN109407518A (en) * | 2018-12-20 | 2019-03-01 | 山东大学 | The autonomous cognitive approach of home-services robot operating status and system |
| CN110480635A (en) * | 2019-08-09 | 2019-11-22 | 中国人民解放军国防科技大学 | A kind of control method and control system for multirobot |
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Application publication date: 20180223 |