基于模糊控制的并联机器人系统研究

A Research of Parallel Robot System Based on Fuzzy Control

针对一般模糊控制器无法消除稳态误差、易产生极限环振荡的问题,设计了并联机器人变参数调节模糊积分控制器,并进行了轨迹跟踪仿真试验,且利用VC++设计了并联机器人的计算机控制软件。实验结果表明,该模糊控制算法的实际控制效果较好,并联机器人能在其工作空间内顺利完成给定的轨迹运动,且具有一定的控制精度。

In the aspect of robot control theory, based on the failure of eradicate stabile error and uhimate circle surge, a variable parameter Fuzzy-integral Controller for parallel robot is designed and an efficient robot control program written in VC＋＋ is designed to actually control the robot. The result indicates that the con- troller can drive robot to move along any locus in its workspace with high precision.