王昌银, 王应建, 林建亚. 机器人电液伺服关节的仿人智能控制实践[J]. 机器人, 1990, 12(5): 25-29.
引用本文: 王昌银, 王应建, 林建亚. 机器人电液伺服关节的仿人智能控制实践[J]. 机器人, 1990, 12(5): 25-29.
WANG Changyin, WANG Yinjian, LIN Jianya. INTELLIGENT CONTROL OF ELECTRO-HYDRAULIC SERVO SYSTEM[J]. ROBOT, 1990, 12(5): 25-29.
Citation: WANG Changyin, WANG Yinjian, LIN Jianya. INTELLIGENT CONTROL OF ELECTRO-HYDRAULIC SERVO SYSTEM[J]. ROBOT, 1990, 12(5): 25-29.

机器人电液伺服关节的仿人智能控制实践

INTELLIGENT CONTROL OF ELECTRO-HYDRAULIC SERVO SYSTEM

  • 摘要: 为解决关节式液压伺服机器人的动态控制问题,使机器人达到希望的响应要求,本文根据仿人智能控制器的基本思想,提出了新的改进算法,并针对喷漆机器人的关节电液位置伺服系统,进行了在新的仿人智能算法下的计算机仿真和实时控制研究.实验证明.控制算法是有效的.

     

    Abstract: In order to solve dynamic control problem of joint type servo robot and to fulfill the desired response re-quirements, this paper proposes an improved new algorithm which relies on the fundamental thought of intelli-gent controler. In aiming at the electro-hydraulic position servo system of a varnish spraying robot we had donecomputer simulation and real time control research using this new algorithm. The effectiveness of this newalgorithm has been proved by our experiment.

     

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