Research On The Motion Control Of Hybrid Driving Double Manipulator With Multi-Joint

In this dissertation, according to human upper body structure, a double manipulator is introduced. The manipulator with multi-joint is driven by pneumatic artificial muscle (PAM) and stepping motor. PAM is a new type of pneumatic actuator. It has shown a good prospect in field of bionic technology, rehabilitation technology for its light weight, softness and high ratio of output force/diameter.The main work of this dissertation includes mechanical design, kinematics and dynamics modeling, control system hardware and software design, system modeling & simulation and experimental analysis.Firstly, according to human arm movement, mechanical design of the manipulator is completed. Both PAMs and stepping motors are used, which makes the structure flexible and compact. Meanwhile, kinematics and dynamics model of the manipulator are set up based on robotics, including position equation, inverse position equation, velocity Jacobian matrix and dynamic equations.Secondly, an efficient pneumatic circuit system is developed for the manipulator, as well as software and hardware of the system. Then, using Matlab / Simulink tools, control system model is built. And simulation experiments on shoulder joint based on both conventional PID controller and fuzzy adaptive PID controller are carried on. The results show fuzzy adaptive control strategy is able to eliminate error quickly.Finally, motion control experimental research is conducted. Experi- mental results show the manipulator has a good positioning accuracy and performance of coordinated movement. And fuzzy adaptive PID controller improves the system stability and response speed effectively.The work of this dissertation provides practical reference for further research of bionic robots.