模糊Hybrid控制及其在机器人装配作业中的应用

Fuzzy Hybrid Control and Its Application in Robot Assembly Task

本文根据模糊推理原理，提出了模糊混合（Ｈｙｂｒｉｄ）控制方法，并把它用于三自由度机械人的回柱二维插入过程中，实验结果表明，该方法能使振动幅度减少９５％以上，并消除了阻塞现象，更好地完成插入任务。

Based on the fuzzy inference, a fuzzy hybrid control is proposed in this paper.This approach is applied to a peg-and-hole task using a robot with three degrees of freedom. The experiment showed that the amplitude of the vibrations could be reducedmore than 95% by the approach, and the jamming was eliminated to make the task be accomplished more smoothly.