Research And Simulation About Robot Planning And Intelligent Control

This paper discusses robot planning and intelligent control technology based on the current situation to study the mathematical model of robot planning and intelligent control theory and practical issues, mainly including: the robot plans mathematical model, robot intelligence control strategy and robot intelligence control strategy simulation.This article is one of the works of robot planning from the point of view to the bottom of the robot motion control for the study aim. Planning around the robot's performance for the following main aspects:1 . Robot kinematics model solutionFirst of all, the introduction of rigid robot forward kinematics of a simple mathematical model derived method, and then discussed the fundamental nature of the robot model. Finally, PUMA560 type manipulator as an example, detailed point-to-point (Point-to-Point, PP) of the solution process.2. Robot inverse kinematics model solutionFirst briefly introduce the rigidity of the robot inverse kinematics of a simple mathematical model derived methods. Finally, PUMA560 type manipulator as an example, detailed information on a continuous curve of the solution process of the exercise.3. Robot obstacle avoidance trajectory planningFirst briefly introduce the environment is know, the stiffness of the robot obstacle avoidance control algorithm derived a simple method. Finally, PUMA560 type manipulator as an example, detailed description of the obstacle avoidance trajectory of the solution process.In this paper, the work of the two is the intelligent control methods applied to the robot's control, to verify the effectiveness of these methods. Intelligent control of the robot around the main performance for the following areas:1 . Robot trajectory planning of fuzzy control strategyFuzzy control for the existing problems in the design of a heuristic fuzzy reasoning rules to achieve the robot motion control, and give a fuzzy PID controller design. 2. Robot trajectory planning in the fuzzy neural network control strategyFuzzy technology and neural network constitutes a combination of fuzzy neural networks, fuzzy systems of conventional implementation of the fuzzy model of the neural network architecture equivalent to the automatic extraction of fuzzy rules, fuzzy membership function of the automatic generation and online adjustment functions.3. Robot trajectory planning in the genetic algorithm control strategyHere genetic algorithm first introduced the basic principles of path planning, and then genetic algorithm path planning of experimental design.In this three paper, the work done by the simulation technology that will be applied to the robot's control, to verify the effectiveness of these methods. The simulation on the robot's main performance:This part of the contents of the relative independence, it is mainly from the perspective of simulation technology to the control theory is widely used in the control system design platform in its MATLAB and the establishment of the Simulink simulation tools for the professional background, combined this paper involved the intelligent robot control programmes, strategies and comprehensive summary. Finally, the uses of MATLAB powerful simulation, to be specific data, were produced specifically for PUMA560 type manipulator and the University of Intelligent Robot Version of MT-UROBOT intelligent control of the 3D dynamic simulation.In this paper, the results of the study carried out in theory, proved by computer simulation to verify the correctness of the control algorithm and effectiveness. Of the proposed control strategy can be used not only to specific robot and a similar complex for the control of nonlinear mechanical systems also has important reference value.