| 机器人力／位置自适应模糊控制 |
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| 引用本文： | 谢光汉,蔡自兴.机器人力／位置自适应模糊控制[J].自动化与信息工程,1997,18(4):5-10. |
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| 作者姓名： | 谢光汉 蔡自兴 |
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| 作者单位： | 广东工业大学(谢光汉，伍朝晖，符曦)，中南工业大学(蔡自兴) |
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| 摘 要： | 在机器人力／位置混合控制的基础上，本文提出了一种对力控制回路采用自适应模糊控制的方法，有利于提高系统对机器人末端操纵器五外界工作环境接触时，其接触刚度不确定性的自适应能力，仿真结果表明，该控制方法与常规ＰＩＤ控制相比，系统的自适应能力和鲁棒性有显著的改善。
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| 关 键 词： | 机器人 力 位置 模糊控制 自适应控制 |
Adapative Fuzzy Force/Position Control of Robot |
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| Xie Guanghan Wu Chaohui Fu Xi.Adapative Fuzzy Force/Position Control of Robot[J].Automation & Information Engineering,1997,18(4):5-10. |
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| Authors: | Xie Guanghan Wu Chaohui Fu Xi |
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| Affiliation: | Xie Guanghan Wu Chaohui Fu Xi(Guangdong University of Technology )CAI Zixing(Centre South University of Technology ) |
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| Abstract: | Based on the force / position hybrid control, this paper presents a methed by means of self-adaptive fuzzy control in the force control loop.It can improve the self-adaptivity of the control system when the end-effector of robot contact with the work environment which has uncertain contact stifhess. The results of simulation show that the proposed control method obviously improve the self-adaptivity of the system , compared with the conventional PID control. |
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| Keywords: | : Force/position hybrid control Self-adaptive fuzzy control Neural network Contactstiffness |
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