| 基于神经网络的柔性机器人混合力/位置控制 |
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| 引用本文： | 田联房,黄磊,李忠,周志坚,毛宗源.基于神经网络的柔性机器人混合力/位置控制[J].华南理工大学学报(自然科学版),1999,27(10):86-90. |
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| 作者姓名： | 田联房 黄磊 李忠 周志坚 毛宗源 |
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| 作者单位： | 华南理工大学自动控制工程系,广州,510640 |
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| 摘 要： | 建立了柔性机器人的动力学模型，并根据实际情况对模型作了相应的假设，给出了简化的准静态模型，提出了一种基于神经网络的混合力／位置控制方法，它主要包括两个部分：辨识网络和学习网络，仿真结果证明所设计的控制器是可行的。
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| 关 键 词： | 柔性机械臂 混合力/位置控制 神经网络 |
| 修稿时间： | 1998-07-10 |
HYBRID FORCE/POSITION CONTROL FOR FLEXIBLE ROBOT BASED ON NEURAL NETWORK |
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| Tian Lianfang,Huang Lei,Li Zhong,Zhou Zhijian,Mao Zongyuan.HYBRID FORCE/POSITION CONTROL FOR FLEXIBLE ROBOT BASED ON NEURAL NETWORK[J].Journal of South China University of Technology(Natural Science Edition),1999,27(10):86-90. |
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| Authors: | Tian Lianfang Huang Lei Li Zhong Zhou Zhijian Mao Zongyuan |
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| Abstract: | In this paper, the dynamics model of flexible robot is developed and some assumptions according to the reality are made for the model to get simple quasi_static model. A bybrid force/position control method based on neural network is presented which includes two parts: identification network and learning network. Simulation results confirm that the controller performs remarkably well. |
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| Keywords: | flexible manipulator hybrid force/position control neural network |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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