[1]刘晓丽,熊良鹏. 改进的人工鱼群算法在机器人控制中的应用[J].计算机技术与发展,2015,25(05):200-204.
　LIU Xiao-li,XIONG Liang-peng. Application of Robot Control Using Improved Artificial Fish Swarm Algorithm[J].,2015,25(05):200-204.
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 改进的人工鱼群算法在机器人控制中的应用()
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《计算机技术与发展》[ISSN:1006-6977/CN:61-1281/TN]

卷:
25
期数:
2015年05期
页码:
200-204
栏目:
应用开发研究
出版日期:
2015-05-10

文章信息/Info

Title:
 Application of Robot Control Using Improved Artificial Fish Swarm Algorithm
文章编号:
1673-629X（2015)05-0200-05
作者:
 刘晓丽; 熊良鹏
 成都理工大学 工程技术学院
Author(s):
 LIU Xiao-li ; XIONG Liang-peng
关键词:
 ; 自抗扰控制器; 人工鱼群算法; 参数优化; 机器人控制
Keywords:
 ; Active Disturbance Rejection Controller ( ADRC) ; Artificial Fish Swarm Algorithm ( AFSA);  parameter optimization;  robot control
分类号:
TP301；TP342
文献标志码:
A
摘要:
 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。
Abstract:
 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.

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更新日期/Last Update: 2015-07-27