摘要
本文针对机器人的关节电液位置伺服系统的特点,应用模糊集和人工智能原理设计了一种简单的智能模糊控制器.计算机仿真和实时控制实验结果均表明,智能模糊控制能有效地克服机器人系统固有的变惯量、非线性等不利因素的影响.此外,该控制器对系统参数变化具有较强的鲁棒性,能显著的提高机器人系统的定位精度和动态响应性能.
In the light of some features of robot joint position servo system driven electro-hydraulically, a simpleintelligent fuzzy controller is designed by using principles of fuzzy set and artificial intelligence, Experimen-tal results of computer simulation and real-time,control show that it can effectively overcome some origi-nal unfavorable effects such as inconstant inertia, nonlinearity, and so on. Additionally it has relativelyhigh robustness to system parameters variations and can significantly improve positioning accuracy anddynamic performance of robot system.
出处
《机器人》
EI
CSCD
北大核心
1991年第4期17-21,共5页
Robot
基金
国家教委开放实验室科学基金
国家〈七.五〉重点科技攻关项目的资助
关键词
机器人
伺服系统
模糊控制
intelligent fuzzy control
robot control
electro-hydraulic position servo system
