基于实时测量的两杆柔性操作臂的模糊补偿控制

Fuzzy Compensation Control of a Two Link Flexible Robot Manipulator Based on Real Time Deflection Measurement

将计算力矩方法和模糊逻辑单元相结合，对带有柔性杆件的机器人操作臂的轨迹跟踪控制进行了研究．一套集成激光传感系统实时测量柔性杆臂的弹性变形，并用于机器人操作臂的补偿控制．控制参数由模糊逻辑单元根据机器人操作臂的状态变量实时调整，保证控制器的稳定性和精度．仿真实验结果证明了控制器的良好性能．

This paper presents a novel deflection compensation control scheme for a two link flexible manipulator incorporating fuzzy logic tuner with compute torque controller. A set of laser optical sensing system is specifically dedicated to measuring the endpoint deflections of each flexible link in real time. We make use of these deflections for feedback dynamics compensation to reduce the end point tracking and position errors. The performance of the proposed controller is verified through simulation.