[1]杨唐文,徐卫良,王兴松.基于实时测量的两杆柔性操作臂的模糊补偿控制[J].东南大学学报(自然科学版),1999,29(6):60-65.[doi:10.3969/j.issn.1001-0505.1999.06.014]
 Yang Tangwen\ Xu Weiliang\ Wang Xingsong.Fuzzy Compensation Control of a Two-Link Flexible Robot Manipulator Based on Real-Time Deflection Measurement[J].Journal of Southeast University (Natural Science Edition),1999,29(6):60-65.[doi:10.3969/j.issn.1001-0505.1999.06.014]
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基于实时测量的两杆柔性操作臂的模糊补偿控制()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
29
期数:
1999年第6期
页码:
60-65
栏目:
自动化
出版日期:
2000-11-20

文章信息/Info

Title:
Fuzzy Compensation Control of a Two-Link Flexible Robot Manipulator Based on Real-Time Deflection Measurement
作者:
杨唐文 徐卫良 王兴松
东南大学机械工程系, 南京 210096
Author(s):
Yang Tangwen\ Xu Weiliang\ Wang Xingsong
Department of Mechanical Engineering, Southeast University, Nanjing 210096
关键词:
柔性机器人操作臂 激光测量系统 模糊逻辑 计算力矩控制 误差补偿
Keywords:
flexible robot manipulator laser-optical sensing system fuzzy logic computer torque control errors compensation
分类号:
TP242.6
DOI:
10.3969/j.issn.1001-0505.1999.06.014
摘要:
将计算力矩方法和模糊逻辑单元相结合,对带有柔性杆件的机器人操作臂的轨迹跟踪控制进行了研究.一套集成激光传感系统实时测量柔性杆臂的弹性变形,并用于机器人操作臂的补偿控制.控制参数由模糊逻辑单元根据机器人操作臂的状态变量实时调整,保证控制器的稳定性和精度.仿真实验结果证明了控制器的良好性能.
Abstract:
This paper presents a novel deflection compensation control scheme for a two-link flexible manipulator incorporating fuzzy-logic tuner with compute torque controller. A set of laser-optical sensing system is specifically dedicated to measuring the endpoint deflections of each flexible link in real time. We make use of these deflections for feedback dynamics compensation to reduce the end-point tracking and position errors. The performance of the proposed controller is verified through simulation.

参考文献/References:

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备注/Memo

备注/Memo:
基金项目:国家自然科学基金资助项目(59885002).
第一作者:男,1971年生,博士研究生.
更新日期/Last Update: 1999-11-20