变因子自学习方案在机械手中的应用

介绍了一种新型自学习控制方法在机器人中的应用，它采用了变学习因子的方案，用模糊的思想选取学习因子，该算法已在直接驱动机器人上进行实验，并解决了一般学习算法在高速运动情况下由于加、减速而带来的系统振荡问题；该算法还具有学习收敛快，鲁棒性好的优点。

Learning Method of Variable Factors Used in Robot Control

This paper introduces a new learning method used in our D.D. robot. In this scheme, the learning factors selected by the fuzzy technology are variable. The relevant control algorithm has been implemented in our D.D. robot. This method has solved a problem, that is, the common learning algorithms often make a system oscillate due to acceleration and deceleration while the given trapezoid speed is high. Moreover, this algorithm has the advantages of quick convergence and great robust.