Fuzzy Control And Co-simulation Of Humanoid Elbow Actuated By Bionic Muscle Force

With the deepening of the understanding about the functional characteristics and formation mechanism of biological systems,and the development of computer technology,the bionic robots have entered the stage of the integration of electromechanical system and biological properties,such as the integration of the traditional structure and bionic materials and the application of bionic driving.In this paper,for a class of humanoid elbow actuated by bionic muscle force,dynamic modeling and trajectory tracking controller design are presented,and virtual prototype and co-simulation are carried out.The humanoid elbow is 2-DOF parallel mechanism,which actuated by imitation muscle force.The system can mimic how a human's elbows are exercised and reflect the supple nature of the bionic driving.The main work of this paper is as follows:Firstly,based on the analysis of the structure and movement mode of humanoid elbow,the nominal dynamic model of the humanoid elbow actuated by bionic muscle force is established.The Hill three element muscle model is selected as the mathematical model of the bionic actuator.Taking into account the uncertainties and external disturbance,the integrated dynamic model of the system is established.Secondly,a fuzzy PID controller is designed for the trajectory tracking control of the humanoid elbow actuated by bionic muscle force because of its multivariable,nonlinear,time-varying and uncertainties.The controller is based on the fuzzy control rule inference mechanism,which continuously detects the error and the error change rate,and adjusts the PID controller parameters in real time.And the effectiveness of the proposed controller is illustrated by simulations.In addition,the virtual prototype model of the humanoid elbow is established by Solid Works.In the ADAMS simulation environment,the motion trajectory simulation of the forearm lift process is carried out,and the motion trajectory is observed to verify the rationality of the virtual prototype.Finally,aiming at control system built in MATLAB/SIMULINK and muscle force function written by the S function.The interaction between MATLAB and ADAMS is achieved by the ADAMS/Controls module.In order to verify the correctness of the virtual prototype and the effectiveness of the controller,the virtual prototype model and the MATLAB simulation control system are combined to carry out co-simulation.