| 合作机器人微操作力提升系统的模糊控制研究 |
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| 引用本文： | 张立勋,董玉红. 合作机器人微操作力提升系统的模糊控制研究[J]. 机械设计与研究, 2006, 22(6): 35-37,41 |
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| 作者姓名： | 张立勋 董玉红 |
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| 作者单位： | 1. 哈尔滨工程大学,机电工程学院,哈尔滨,150001
2. 哈尔滨理工大学,机械动力工程学院,哈尔滨,150080 |
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| 基金项目： | 国家自然科学基金;黑龙江省科研项目;黑龙江省教育厅科学技术研究项目 |
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| 摘 要： | 根据合作机器人提升系统的组成和工作原理，提出了适应操作者特性的模糊控制策略，建立了微操作力提升系统的数学模型，利用MATLAB软件的模糊控制工具箱设计了提升系统的模糊控制器，建立了提升系统的仿真模型，对模糊控制策略进行了仿真分析．仿真结果表明该控制策略是可行的，能够满足合作机器人微操作力提升系统的性能要求。该研究对微操作力提升系统的性能分析和改进具有实际的参考价值。
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| 关 键 词： | 合作机器人 微操作力 模糊控制策略 |
| 文章编号： | 1006-2343（2006）06-035-04 |
| 收稿时间： | 2006-04-17 |
| 修稿时间： | 2006-04-17 |
Fuzzy Control of Cobot Micro Operation Force Hoisting System |
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| ZHANG Li-xun,DONG Yu-hong. Fuzzy Control of Cobot Micro Operation Force Hoisting System[J]. Machine Design and Research, 2006, 22(6): 35-37,41 |
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| Authors: | ZHANG Li-xun DONG Yu-hong |
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| Affiliation: | 1. School of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China; 2. School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, china |
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| Abstract: | According to constituent parts and running principle of cobot hoisting system, a fuzzy control strategy was put forward for adapting to an operator. The mathematical model of micro operation force hoisting system waw built up, and the fuzzy controller of the system was designed by using fuzzy system toolbox in MATLAB software. The simulation model of the hoisting system was constructed and the simulation analysis of fuzzy control strategy waw completed. The simulation results show that the strategy is feasible, and it can meet the performance requirements of cobot micro operation force hoisting system, This research possesses actual reference values for improving the micro operation force hoisting system and analyzing its performances. |
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| Keywords: | MATLAB |
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