| 基于小波神经网络的机械臂力/位置控制算法 |
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| 引用本文： | 黄绍辉,曹小涛,李元春. 基于小波神经网络的机械臂力/位置控制算法[J]. 吉林大学学报(工学版), 2008, 38(1): 163-167 |
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| 作者姓名： | 黄绍辉 曹小涛 李元春 |
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| 作者单位： | 吉林大学,通信工程学院,长春,130022;吉林大学,通信工程学院,长春,130022;吉林大学,通信工程学院,长春,130022 |
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| 摘 要： | 基于小波神经网络,提出了一种新的受时变约束机器人力/位置控制算法。由系统约束关系推导了降阶的动力学模型,基于降阶模型设计了鲁棒小波神经网络力/位置控制算法。由Barbalat给出了系统的稳定性证明。数值仿真结果验证了本文控制算法的有效性。
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| 关 键 词： | 自动控制技术 机械臂 力/位置控制 小波神经网络 |
| 文章编号： | 1671-5497（2008）01-0163-05 |
| 收稿时间： | 2007-01-26 |
| 修稿时间： | 2007-01-26 |
Force/position control algorithm for manipulator based on wavelet network |
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| Huang Shao-hui,Cao Xiao-tao,Li Yuan-chun. Force/position control algorithm for manipulator based on wavelet network[J]. Journal of Jilin University:Eng and Technol Ed, 2008, 38(1): 163-167 |
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| Authors: | Huang Shao-hui Cao Xiao-tao Li Yuan-chun |
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| Affiliation: | School of Communication Engineering, Jilin University, Changchun 130022, China |
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| Abstract: | For rheonomically constrained manipulator systems, a robust position/force control algorithm was designed on the basis of wavelet network for the approximation of nonlinear part and unmodelled dynamics of robotic systems. A compensation term was used to simplify the wavelet network structure, and the control algorithm can guarantee the system robustness and solve force/ position control problem. Theoretical analysis and simulation were carried out to demonstrate the effectiveness of the proposed control method. |
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| Keywords: | automatic control technology manipulator position/force control wavelet network |
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