孙立宁, 徐文军, 蔡鹤皋. 基于模糊CMAC神经网络的并联机器人自适应力控制研究[J]. 机器人, 1999, 21(3): 198-203.
引用本文: 孙立宁, 徐文军, 蔡鹤皋. 基于模糊CMAC神经网络的并联机器人自适应力控制研究[J]. 机器人, 1999, 21(3): 198-203.
SUN Lining, XU Wenjun, CAI Hegao. STUDY OF FUZZY CMAC NEURAL NETWORK BASED ADAPTIVE FORCE CONTROL OF-PARALLEL ROBOTS[J]. ROBOT, 1999, 21(3): 198-203.
Citation: SUN Lining, XU Wenjun, CAI Hegao. STUDY OF FUZZY CMAC NEURAL NETWORK BASED ADAPTIVE FORCE CONTROL OF-PARALLEL ROBOTS[J]. ROBOT, 1999, 21(3): 198-203.

基于模糊CMAC神经网络的并联机器人自适应力控制研究

STUDY OF FUZZY CMAC NEURAL NETWORK BASED ADAPTIVE FORCE CONTROL OF-PARALLEL ROBOTS

  • 摘要: 本文介绍了一种基于Takagi型模糊推理方法的模糊CMAC神经网络,分析了其学习算法,设计出基于这种模糊神经网络的并联机器人自适应力控制器,并进行了仿真和实验研究,证明所设计的控制器是可行和有效的.

     

    Abstract: This paper introduces a kind of Takagi type fuzzy reasoning based fuzzy CMAC neural network and analyzes its learning algorithm. We have designed an adaptive force controller for parallel robots based on the neural network mentioned above. Simulation and experiment both prove that the controller we designed is feasible and effective.

     

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