樊晓平, 徐建闽, 毛宗源, 周其节. 平面双连杆受限柔性机器人臂的自适应模糊力/位置控制[J]. 机器人, 1999, 21(6): 455-465.
引用本文: 樊晓平, 徐建闽, 毛宗源, 周其节. 平面双连杆受限柔性机器人臂的自适应模糊力/位置控制[J]. 机器人, 1999, 21(6): 455-465.
FAN Xiao-ping, XU Jian-min, MAO Zong-yuan, ZHOU Qi-jie. ADAPTIVE FUZZY POSITION/FORCE CONTROL FOR A PLANAR TWO LINK CONSTRAINED FLEXIBLE MANIPULATOR[J]. ROBOT, 1999, 21(6): 455-465.
Citation: FAN Xiao-ping, XU Jian-min, MAO Zong-yuan, ZHOU Qi-jie. ADAPTIVE FUZZY POSITION/FORCE CONTROL FOR A PLANAR TWO LINK CONSTRAINED FLEXIBLE MANIPULATOR[J]. ROBOT, 1999, 21(6): 455-465.

平面双连杆受限柔性机器人臂的自适应模糊力/位置控制

ADAPTIVE FUZZY POSITION/FORCE CONTROL FOR A PLANAR TWO LINK CONSTRAINED FLEXIBLE MANIPULATOR

  • 摘要: 本文对一类平面双连杆受限柔性机器人的力/位置控制问题进行研究,提出了一种新的自适应模糊控制方案.利用结构分解技术对模糊推理系统进行简化,用梯度法对参数进行自适应调整,从而实现对受限柔性机器人系统末端的混合力/位置控制.计算机仿真结果表明,本文提出的控制方案是合理、有效的.

     

    Abstract: In this paper, a class of planar two link constrained flexible manipulators is discussed and a new adaptive fuzzy logic control scheme is presented to control the tip position and the contact force of the manipulators. Structural decomposition technique is utilized to simplify the MIMO fuzzy inference system, and gradient descent method is adopted to adjust the system parameters adaptively. Computer simulation results demonstrate that this new control scheme is reasonable and effective.

     

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