摘要
综述了国内外机器人柔性臂控制策略研究的最新成果,结合弯曲木加工机器人柔性臂的特点,选用了非线性模糊控制的控制方法。提出了一种简化模糊控制的方案,大大减少了模糊控制规则的数目,简化了控制策略、控制器的设计及调整过程。
In this paper, we introduced recent developments in the control of space flexible manipulators of the robot in the world. We selected the nonlinear fuzzy control method according to the traits of space flexible manipulator of the robot used in the machining of winding wood. And we brought forward a sample fuzzy control method that could lessen the number of the rules of the fuzzy control, make sample the design and adjustment of the control policy and control implement.
出处
《林业机械与木工设备》
北大核心
2003年第5期7-9,共3页
Forestry Machinery & Woodworking Equipment
基金
国家"863"高技术研究发展计划资助项目(2001AA422400)
