| 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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| 引用本文： | 杨唐文,徐卫良.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. |
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| 作者姓名： | 杨唐文 徐卫良 |
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| 作者单位： | 东南大学机械工程系!南京210096 |
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| 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。
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| 关 键 词： | 柔性机器人 操作臂 模糊补偿控制 实时测量 |
Fuzzy Compensation Control of a Two Link Flexible Robot Manipulator Based on Real Time Deflection Measurement |
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| 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. |
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| Authors: | Yang Tangwen\ Xu Weiliang\ Wang Xingsong |
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| 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. |
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| Keywords: | flexible robot manipulator laser optical sensing system fuzzy logic computer torque control errors compensation |
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