摘要
提出一种利用T-S模糊模型的柔性机械臂建模方法;柔性机械臂是一个高度复杂、高度非线性、高度耦合的非线性时变系统,而模糊模型本质上是一种非线性模型,可以任意精度逼近任何非线性系统;利用减法聚类算法离线辨识了T-S模型的前件参数,同时利用最小二乘法求得了T-S模型的后件参数;最后将模型的仿真结果和实验结果进行了对比分析,验证了模型的准确性;由此表明,柔性机械臂T-S模糊建模方法是有效的,它具有模糊模型的特点,可以任意精度逼近任何非线性系统,为柔性机械臂的模糊建模和下一步研究提供了理论指导及重要的前提条件。
Utilizing the Takagi-Sugeno fuzzy model to make a model of flexible manipulator is proposed. The flexible manipulator is a nonlinear time-varying system with＇highly complex, nonlinear and cooperated characters. It can approach any nonlinear system in any precision. Then use subtractive clustering analysis to identify the flexible manipulator＇s former rule condition and use least square method to get the later rule condition. At last, compared and analyzed simulation result with test result, we have proved the accuracy of the model. As a result, it is effective Utilizing the Takagi--Sugeno fuzzy model to make a model of flexible manipulator. This method has the characters of fuzzy model and it can approach any nonlinear system in any precision. This has offered theoretical direction and important precondition for next research of fuzzy modeling of the flexible manipulator.
出处
《计算机测量与控制》
CSCD
2007年第5期662-664,共3页
Computer Measurement &Control
关键词
柔性机械臂
T-S模糊模型
减法聚类分析
最小二乘法
flexible manipulator
T-S fuzzy model
subtractive clustering analysis
least square method
