附加力外环的机器人力／位置自适应模糊控制

提出一种由神经网络训练模糊控制规则的自适应模糊控制器，并应用附加力外环的机器人力／位置控制。在不改变一般工业机器人原有位置控制的前提下，实现力／位置自适应模糊控制。实验结果表明，该方法可使机器人控制系统对工作环境接触刚度的自适应能力得到显著改善。

Force/Position Adaptive Fuzzy Control of Robot Attached in Force Out Loop

This paper presents a kind of self-adaptive fuzzy controller with fuzzy rules trained by neural network, and the controller is used to the force/position control of robot attached in the force out loop. For genernal industrial robot, the controller can realize the force/position control that do not need change its controller. The results of experiments show that the proposed control method improves obviously the self-adaptive capability of the system to the variation of contact stiffness for work environment.