ADAPTIVE FUZZY POSITION/FORCE CONTROL FOR A PLANAR TWO LINK CONSTRAINED FLEXIBLE MANIPULATOR
FAN Xiao-ping1, XU Jian-min2, MAO Zong-yuan2, ZHOU Qi-jie2
1. Institute of Information and Control Engineering, Changsha Railway University 410075; 2. Dept. of Automatic Control Eng., South China Univ. of Tech., Guangzhou 510641
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. ROBOT, 1999, 21(6): 455-465..
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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