| 人工智能在机器人力控制系统中的应用研究 |
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| 引用本文： | 王秀俊,葛运建,肖波,余永.人工智能在机器人力控制系统中的应用研究[J].华中科技大学学报(自然科学版),2004(Z1). |
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| 作者姓名： | 王秀俊 葛运建 肖波 余永 |
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| 作者单位： | [1]中国科学院合肥智能机械研究所 [2]中国科学院合肥智能机械研究所 安徽合肥 [3]安徽合肥 [4]安徽合肥230031日本鹿儿岛大学 |
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| 基金项目： | 国家高技术研究发展计划资助项目 (86 3 2 0 0 2AA4 2 32 0 0 )，国家自然科学基金资助项目 (6 0 175 0 2 7) |
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| 摘 要： | 鉴于以往在机器人力控制中存在某些不足 ,将人工智能方法引入基于力传感器的机器人力控制中 ,尝试利用模糊控制理论与阻抗控制策略相结合对机器人进行更有效的力控制 .给出了系统的硬件结构 ,设计了力控制器 ,最后根据具体实验得出实验结果 .为解决机器人力控制问题提供一种新的方法 .
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| 关 键 词： | Puma机器人 六维腕力传感器 力控制 模糊控制理论 |
Application study of robotic force control system based on artificial intelligence |
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| Wang Xiujun Ge Yunjian Xiao Bo Yu Yong Postgraduate, Hefei Institute of Intelligent Machines of CAS,Hefei ,China..Application study of robotic force control system based on artificial intelligence[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,2004(Z1). |
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| Authors: | Wang Xiujun Ge Yunjian Xiao Bo Yu Yong Postgraduate Hefei Institute of Intelligent Machines of CAS Hefei China |
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| Institution: | Wang Xiujun Ge Yunjian Xiao Bo Yu Yong Postgraduate, Hefei Institute of Intelligent Machines of CAS,Hefei 230031,China. |
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| Abstract: | Considering the deficiency of present robotic force control algorithm, we introduces artificial intelligent method in this paper. We attempt to combine fuzzy control theory with impe-dance control strategy, and attempt to control the external force on the robotic end-effector by this quomodo.The structure of the system is presented and the force controller is designed. Finally we show the results based on the practical experiments. It is a more effective strategy to solve the ro-botic force control problem. |
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| Keywords: | Puma robot six axes force/moment sensor force control fuzzy control theory |
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