摘要
在机器人力/位置混合控制的基础上,本文提出一种对力控制回路采用自适应模糊控制的方法,有利于提高系统对机器人末端操纵器与外界工作环境接触时,其接触刚度不确定性的自适应能力。仿真结果表明,该控制方法与常规PID控制相比,系统的自适应能力和鲁棒性有显著的改善。
Based on the force / position hybrid control, this paper presents a methed by means of self-adaptive fuzzy control in the force control loop.It can improve the self-adaptivity of the control system when the end-effector of robot contact with the work environment which has uncertain contact stifhess. The results of simulation show that the proposed control method obviously improve the self-adaptivity of the system , compared with the conventional PID control.
出处
《广东自动化与信息工程》
1997年第4期5-10,共6页
Guangdong Automation & Information Engineering
关键词
机器人
力
位置
模糊控制
自适应控制
: Force/position hybrid control Self-adaptive fuzzy control Neural network Contactstiffness