关键词: 操纵子模型, 精密运动, 控制系统, 宏-微机械手

Abstract:

For the error problem of the position and the location in the process of operation of macro - micro manipulators, inspired by cytology said manipulation behavior, the control system based on operon mapping relationships in the cause of the mechanical precision is put forward, used to study the effect of mechanical precision movement factor and the operon model in cytology, the effect of the factor of the impact on mechanical precision motion and the structure of the operon model and its working mechanism, within the impact of these factors, the mapping relationship between factors influencing the precision of manipulator is established, the degree of the influence is put out, the macro - control system of micro manipulator is analyzed, the mapping relationship between the manipulator operon model based on the control system is solved , considering the influence of the geometric factors, the error of the simulation model is obtained, the result of error is optimized by the proportional-integral-differential(PID) controller based on particle swarm algorithm, the time multiplied by the absolute error integral(ITAE) performance index curve and the control parameters of PID optimized by the particle swarm optimization(PSO) are obtained, the conclusion that the mapping relation can satisfy a certain accuracy requirement is indicated, and the precision of the manipulator movement can be further improved, thus providing the theoretical basis for the further innovation research on the biological control of robots.

Key words: control system, operon model, precision motion, macro-micro manipulator