人工智能在机器人力控制系统中的应用研究

Application study of robotic force control system based on artificial intelligence

鉴于以往在机器人力控制中存在某些不足 ,将人工智能方法引入基于力传感器的机器人力控制中 ,尝试利用模糊控制理论与阻抗控制策略相结合对机器人进行更有效的力控制 .给出了系统的硬件结构 ,设计了力控制器 ,最后根据具体实验得出实验结果 .为解决机器人力控制问题提供一种新的方法 .

Considering the deficiency of present robotic force control algorithm, we introduces artificial intelligent method in this paper. We attempt to combine fuzzy control theory with impe-dance control strategy, and attempt to control the external force on the robotic end-effector by this quomodo.The structure of the system is presented and the force controller is designed. Finally we show the results based on the practical experiments. It is a more effective strategy to solve the ro-botic force control problem.