关节型博弈机器人智能控制系统模块化设计与实现
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摘要
为解决关节型博弈机器人智能控制系统程序复杂,控制精度低的两大问题,通过综合机器视觉技术与电机控制技术,提出了基于MATLAB平台下的模块化机器视觉系统设计概念及自适应性模糊化PID控制系统的设计方案。结果表明:系统提取棋盘信息和落子信息速度加快,步进电机进入稳态响应时间提前,证实了博弈机器人执行人机对弈任务的高效性,并且为关节型机器人智能控制模块化设计提供了新思路。
In order to solve the two major problems of joint type game robot,complex program of intelligent system and low control precision,a machine vision system based on MATLAB platform and the scheme of adaptive fuzzy proportion integral differential( PID) control system have been designed by using machine vision technology and motor control technology. As a result,system to extract board information and play chess information and stepper motor to enter the steady-state response time were fast. It is confirmed the high efficiency of the robot to perform the task of chess game,and also provided a new idea for the modular design of the intelligent control system of joint type robot.
In order to solve the two major problems of joint type game robot,complex program of intelligent system and low control precision,a machine vision system based on MATLAB platform and the scheme of adaptive fuzzy proportion integral differential( PID) control system have been designed by using machine vision technology and motor control technology. As a result,system to extract board information and play chess information and stepper motor to enter the steady-state response time were fast. It is confirmed the high efficiency of the robot to perform the task of chess game,and also provided a new idea for the modular design of the intelligent control system of joint type robot.
引文
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[2]王丽,张秀峰,马岩,等.脑卒中患者上肢康复机器人及评价方法综述[J].北京生物医学工程,2015,34(5):526-532.WANG L,ZHANG X F,MA Y,et al.Summary of Rehabilitation Robot for Upper Limbs and Evaluation Methods for Stroke Patients[J].Beijing Biomedical Enineering,2015,34(5):526-532.
[3]田祥章,李海龙,陈杰.东北大学智能机器人技术的发展[J].机器人技术与应用,2012(6):1-3.
[4]许丰磊.象棋机器人视觉算法与智能控制软件的研究[D].哈尔滨:哈尔滨工业大学,2006.
[5]俞清.围棋机器人系统开发[D].上海:同济大学,2005.
[6]姜杉,冯文浩,杨志永,等.基于模糊PID调节的核磁兼容机器人气动控制技术[J].机器人,2012,34(5):531-538.JIANG S,FENG W H,YANG Z Y,et al.Pneumatic Control Technology Based on Fuzzy PID for MRI Compatible Robots[J].Robot,2013,34(5):531-538.
[7]崔家瑞,李擎,张波,等.永磁同步电机变论域自适应模糊PID控制[J].中国电机工程学报,2013,33(z1):190-194.CUI J R,LI Q,ZHANG B,et al.Permanent Magnet Synchronous Motor of Variable Universe Adaptive Fuzzy PID Control[J].Proceedings of the CSEE,2013,33(z1):190-194.
[8]李宪.混合式步进电动机无刷直流电机方式驱动方案及其仿真分析[D].杭州:浙江大学,2006.
[9]李华志.用图像控制模块实现物流运输装置的远程控制[J].中国图像图形学报,2007,12(3):495-499.LI H Z.Remote Control of Convey Device by Image Controlling Mold[J].Journal of Image and Graphics,2007,12(3):495-499.
[10]吴春,庞洪.一种PID参数调整方法研究[J].兵工自动化,2009,28(4):91-93.WU C,PANG H.Research on a Method of PID Parameter Adjustment[J].Ordnance Industry Automation,2009,28(4):91-93.
[11]肖云茂.基于模糊PID的步进电机控制技术研究[D].杭州:浙江工业大学,2009.
[12]付学志,姚旺生,苟伟,等.基于FPGA的高速PID控御器设计与仿真[J].电子技术应用,2007,33(1):87-89.FU X Z,YAO W S,GOU W,et al.Design and Simulation of High Speed PID Controller Based on FPGA[J].Application of Electronic Technique,2007,33(1):87-89.