摘要
本文针对机器人电液位置伺服系统的特点,应用模糊集理论,设计了机器人模糊控制器,来提高机器人的位置精度和动态特性。并作了大量计算机数字仿真和实时控制实验研究。仿真和实验结果均表明,该控制器能够克服机器人系统固有的变惯量和非线性等不利因素的影响,具有较好的位置精度和动态性能。此外,还具有一定的鲁棒性。
The electro-hydraulic position servo system being controlled has a wide range
of time-varying inertia load,highly nonlinear kinematic performance,so it is a complicated
problem for the system to has satisfactory dynamic characteristics and position accuracy.
On the basis of Fuzzy Set Theory,a robot fuzzy controller is proposed in this paper.
Digital simulation and experiment in the laboratory have proved effectiveness of this metho-
d.Influence of various perturbations can be checked obviously.Stiffness and position
accuracy are remarkly increased.
出处
《液压与气动》
北大核心
1989年第4期2-5,共4页
Chinese Hydraulics & Pneumatics
关键词
机器人
模糊控制
电液伺服系统
fuzzy control
robot
digital simulation
microcomputer
