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欠驱动两自由度机械臂的模糊控制
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格式:rar |
大小:300 |
2009-08-04
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分析了欠驱动两自由度机械臂主、被动关节间的动力学耦合特性，指出了被动关
节处于不同位置时耦合特性的差异。针对主、被动关节间的动力学耦合特性及其差异，提出了两种不同的模糊控制策略，实验结果证明当被动关节处于不同位置时，该策略均能使机械臂达到较高的位置控制精度。
关键词：欠驱动；机械臂；动力学耦合；模糊控制
Abstract：The dynamic coupling between active joint and passive joint of a 2 DOF
underactuated manipulator and its difference while the passive joint at different positions are
analysed. Based on that, different fuzzy controll strategies are presented. The experimental results show that the proposed strategies have high precision for the position control of the manipualtor while the passive joint at different positions.
Key words：Underactuated; Manipulator; Dynamic coupling; Fuzzy control
节处于不同位置时耦合特性的差异。针对主、被动关节间的动力学耦合特性及其差异，提出了两种不同的模糊控制策略，实验结果证明当被动关节处于不同位置时，该策略均能使机械臂达到较高的位置控制精度。
关键词：欠驱动；机械臂；动力学耦合；模糊控制
Abstract：The dynamic coupling between active joint and passive joint of a 2 DOF
underactuated manipulator and its difference while the passive joint at different positions are
analysed. Based on that, different fuzzy controll strategies are presented. The experimental results show that the proposed strategies have high precision for the position control of the manipualtor while the passive joint at different positions.
Key words：Underactuated; Manipulator; Dynamic coupling; Fuzzy control
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