【摘要】 本文研究了一类多弹性连杆机器人的模糊控制问题.为系统仿真的需要.首先给出了该机器人系统的动力学模型.然后通过控制规则的函数生成方法给出了模糊控制器设计.并通过模糊控制器量化因子和比例因子的在线自调整.保证系统具有良好的动态与稳态品质.系统仿真结果表明,本文方案为弹性机器人的控制提供了新的有效途径.这项工作也为拓广模糊控制方法的应用领域做出了贡献.更多还原

【Abstract】 In this paper,the problem of fuzzy control for a class of multi-elastic links robots is studied.Firstly,thedynamic simulation model of the robot is proposed.Next,based on the control rules generated by functions,the fuzzy controller is designed.The on-line self-regulating of scaling factors is used to guarantee the satis-factory dynamic properties and steady-state properties of the system.The results of the system simulationshow that the new scheme of elastic robot control in this paper is effective and suitable.So the applicationscope of fuzzy control theory is extended significantly.更多还原