基于单自由度机器臂的集成控制融合实验研究

The Experimental Research of Integration Control Fusion Based on Single-Freedom Robot

针对文献1提出的控制策略:集成控制融合,本文利用工控机、PMAC、伺服电机等分别建立了针对单自由度机器臂的PID控制系统、模糊控制系统、以及基于集成控制策略的控制系统。分别利用这三种控制系统控制机器臂进行阶跃响应实验以及关节余弦跟踪实验,通过对实验结果的分析比较来验证该控制策略的可行性及有效性。

For the paperlhad put forward a new control strategy： integration control fusion. This paper establishes PID control system, Fuzzy control system, and integration control fusion control system based on the manipulator of single-freedom by PMAC,SERVO MOTOR and so on. To do step response experiment and the joint cosine tracks experiment though three kind of control system. To validate the feasibility and validity of the control strategy through lots of experiments.