基于神经元控制的机械臂伺服系统设计

The Design of Servo System for Manipulator Based on Neural Control

对于大功率的3自由度机械手臂，为保证系统具有较高的控制精度和较强的鲁棒性，采用神经元模型参考自适应设计系统方法，通过关节处的角传感器构成闭环系统，取线性自适应神经元作为神经元控制器，设计了基于神经元控制的机械臂伺服系统。实验研究表明，该系统具有较好的控制品质。

Aiming at three-degree-of-freedom of manipulator with big power, the servo system for manipulator based on neural control is designed. In order to guarantee the high accuracy and strong robustness of the servo system, the neural model and design method of self-adaptive system is used, as well as close-loop system is composed of angle sensors, linear self-adaptive neural is used as neural controller. The experiment's results show that this system has very good control effect.