Research On Bionic Muscle Control Technology For Parallel Mechanism

In recent years,with the continuous advancement of science and technology,especially the rise of artificial intelligence,the research on robots closely related to it has also developed rapidly.Among them,as a hot spot in the field of robotics research,bionic robots have attracted more and more attention from researchers from all over the world,and many excellent results have been achieved today.The bionic muscle control that will be studied in this paper is essentially a compliant motion control strategy that uses muscle model to design variable admittance controller,which belongs to bionic motion behavior.Related research on this strategy will be carried out on the parallel mechanism platform.Firstly,this paper investigates the muscle model and the robot compliant motion control,and analyzes the research results in recent years,and then determines the content and method of the bionic muscle control research.Then,by modifying the Hill type muscle model,a virtual agonist-antagonist muscle model was proposed,and a variable admissibility controller applied to the joint was designed to complete the mathematical modeling of the bionic muscle control.Then bionic muscles control is applied to the parallel mechanism,design the corresponding control framework,with the combination of PID control and stiffness adaptive control,which need to inverse kinematics of parallel mechanism analysis,through the joint simulation bionic muscles control can make the corresponding joint produces smooth sex,and present a muscle sample function,muscle parameters influence on control effect.Among them,the stiffness adaptive control adjusts the stiffness coefficient in real time through the design of the expected stiffness model and the two-rate integral learning model,so that the output of the bionic muscle control,namely the deflection angle of the joint,is moderate,which meets the requirements of moderate joint compliance.Finally,the bionic muscle control algorithm was implemented on the experimental platform by building an experimental platform of parallel mechanism.Before the experiment,it is necessary to master the hardware system of the parallel mechanism,and then it is mainly to compile the corresponding program in the Lab VIEW software.After the hardware system and software program are prepared,the experimental process is designed and the experiment is completed.The experimental results are analyzed to verify the validity and rationality of the bionic muscle control algorithm,the stiffness adaptive control algorithm and the attitude closed-loop control algorithm.