王从庆, 燕力欣, 原魁, 余达太. 一种模糊学习控制方法及其在多指手爪位置伺服系统中的应用[J]. 机器人, 1995, 17(2): 75-81,88.
引用本文: 王从庆, 燕力欣, 原魁, 余达太. 一种模糊学习控制方法及其在多指手爪位置伺服系统中的应用[J]. 机器人, 1995, 17(2): 75-81,88.
WANG Congqhg, YAN Lixin, YUAN Kui, YU Datai. A FUZZY LEARNING CONTROL SCHEME AND ITS APPLICATION ON THE POSITION SERVO SYSTEM FOR A MULTIFINGERED HAND[J]. ROBOT, 1995, 17(2): 75-81,88.
Citation: WANG Congqhg, YAN Lixin, YUAN Kui, YU Datai. A FUZZY LEARNING CONTROL SCHEME AND ITS APPLICATION ON THE POSITION SERVO SYSTEM FOR A MULTIFINGERED HAND[J]. ROBOT, 1995, 17(2): 75-81,88.

一种模糊学习控制方法及其在多指手爪位置伺服系统中的应用

A FUZZY LEARNING CONTROL SCHEME AND ITS APPLICATION ON THE POSITION SERVO SYSTEM FOR A MULTIFINGERED HAND

  • 摘要: 本文针对重复抓取与操作的多指手爪,提出了一种模糊学习控制方法.该方法利用先前的控制误差,逐步地修正不完善的控制规则,使系统的实际输出收敛于给定的轨迹.本文还给出了这种方法的收敛性条件,并应用于多指手爪的位置伺服系统中,改善了控制性能,达到了预期的控制效果.

     

    Abstract: In this paper a fuzzy learning control scheme for a repeated grasping and manipulating multifin-gered hand is presented,which can gradually modify imperfect control rules and make the actual output of the system converge to the given trajectory using the past control errors.The convergent conditions are also given.The proposed scheme is applied to the position servo system for the multifingered hand to improve control performance.The desired control results are obtained.

     

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