| 柔性机械手的模糊预测组合控制与实验 |
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| 引用本文： | 刘新建,周华平,马宏绪,张彭.柔性机械手的模糊预测组合控制与实验[J].机器人,1999,21(4):294-299. |
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| 作者姓名： | 刘新建 周华平 马宏绪 张彭 |
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| 作者单位： | 国防科技大学自动控制系机器人实验室 |
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| 摘 要： | 本文研究了柔性机械手的关节PID，应变PD和端点加速度反馈的的模糊预测组合控
制及其实验．与其它方法的实验现象和结果比较，表明这种模糊预测组合控制方法能够控制
单杆柔性机械手期望的关节运动，能较好抑制运动过程中的弹性变形和消除端点残余振动．
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| 关 键 词： | 柔性机械手 模糊预测控制 |
FUZZY FORECAST COMBINED CONTROL & EXPERIMENT\=FOR FLEXIBLE MANIPULATOR |
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| LIU Xinjian\ ZHOU Huaping\ MA Hongxu\ ZHANG Peng.FUZZY FORECAST COMBINED CONTROL & EXPERIMENT\=FOR FLEXIBLE MANIPULATOR[J].Robot,1999,21(4):294-299. |
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| Authors: | LIU Xinjian\ ZHOU Huaping\ MA Hongxu\ ZHANG Peng |
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| Abstract: | A fuzzy forecast combined control method is presented and studied experimentally for flexible malipulator in this paper with joint PID, strain PD and endpoint acceleration feedback. Experiment results are comparably shown that this method can make flexible manipulator both track desired joint trajectory,and effectively suppress elastic deformation of motion and eliminate its endpoint residual vibration . |
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| Keywords: | Flexible manipulator fuzzy forecast control |
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