【摘要】 本文提出了一种基于专家系统（ES）与人工神经网络（ANN）集成的机器人控制系统。建立了基于ES的智能协调层及基于CMAC的控制层。对2DOF机械手运动轨迹跟踪的计算机仿真结果表明：本控制系统有效地提高了机器人的控制精度。更多还原

【Abstract】 In this paper,a new robot intelligent controller that integrates knowledge-based systems and neural networks is presented. The controller is composed of two con-trlling layers. The first is the intelligent supervising and coordinating contol layer. The second is the one based on CMAC. The computer simulation results for a plannar two DOF rlbot arm show that this system could improve the accuracy of the robot control greatly.更多还原