摘要
通过对气动手爪位置伺服系统进行分析,建立了气动手爪的位置伺服系统数学模型。采用Matlab/Simulink仿真软件对所建立的系统数学模型进行仿真得出,此位置伺服系统结合模糊自适应PID控制方法,可以使气动手爪以较短的调整时间来抓取易碎、易变形的物体。
By analyzing position servo system of pneumatic gripper,mathematical model of position servo system of pneumatic gripper was established.Using Matlab/Simulink simulation software on the mathematical model,it showed that position servo system using with fuzzy-adaptive PID control can make pneumatic gripper make adjustment in short time to crawl fragile,easily deformed objects.
出处
《机械研究与应用》
2009年第6期3-4,8,共3页
Mechanical Research & Application
关键词
气动手爪
位置伺服系统
仿真
pneumatic gripper
position servo system
simulation
