柔性机械臂T-S模糊模型的辨识及其分析

Identification and analysis of flexible manipulator's T-S model

针对柔性机械臂强非线性、强耦合性及不确定性等特点,利用Takagi-Sugeno模糊模型对柔性机械臂进行了建模。将模型的仿真结果和实验结果进行了对比分析,验证了模型的准确性。

Due to the characteristic such as strong non-linear, strong coupling, uncertainty, etc of flexible manipulator, the characteristic of Takagi-Sugeno fuzzy model, modeling to the flexible manipulator was carried on. Compared and analysed the simulation result of the model and experimental result, have proved the accuracy of the model.