金耀初, 蒋静坪, 诸静. 机器人神经模糊控制[J]. 机器人, 1995, 17(3): 157-163,170.
引用本文: 金耀初, 蒋静坪, 诸静. 机器人神经模糊控制[J]. 机器人, 1995, 17(3): 157-163,170.
JIN Yaochu, JIANG Jingping, ZHU Jing. NEURO-FUZZY CONTROL OF ROBOT MANIPULATORS[J]. ROBOT, 1995, 17(3): 157-163,170.
Citation: JIN Yaochu, JIANG Jingping, ZHU Jing. NEURO-FUZZY CONTROL OF ROBOT MANIPULATORS[J]. ROBOT, 1995, 17(3): 157-163,170.

机器人神经模糊控制

NEURO-FUZZY CONTROL OF ROBOT MANIPULATORS

  • 摘要: 本文首先讨论了机器人动力学的特殊性,提出了一种基于神经网络的模糊控制方法,该方法借助于一类新型的神经网络结构,实现了模糊规则的自动更新和隶属函数的自调整.该算法被用于机器人动态控制,取得了满意的仿真结果.

     

    Abstract: This paper provides a brief description of the uncertainties of robot manipulators dynamics andtheir advanced control strategies. To overcome the effect of nonlinearities and uncertainties,we develop aneuro-fuzzy control algorithm based on the fuzzy neural network proposed by the authors.The new con-troller can adjust its fuzzy rules and member ship functions on-line. The approach is applied to the dynamiccontrol of robot manipulators and good simulation results are obtained.

     

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