摘要
介绍利用模糊控制与阻抗控制策略相结合对一维运动机构进行力控制。给出了系统硬件结构,采用模糊控制理论对PID参数,和进行在线自整定,设计了力控制器。实验结果表明,该方法可以有效地控制执行机构末端与环境的接触力。
A one degree of freedom force control strategy combining fuzzy control with impendence control is introduced in this paper. The structure of the system is presented and the force controller with self-setting PID is designed. Test results show it is an effective strategy to control the force between the end of the single degree of freedom mechanisms and the environment.
出处
《机电产品开发与创新》
2007年第2期116-117,120,共3页
Development & Innovation of Machinery & Electrical Products
