摘要
研究了基于PMAC的三自由度并联打磨机器人的控制模型,在此基础上设计了一种适用于该并联机器人的模糊PID控制器,并通过Matlab软件的数值仿真研究和PEWIN32PRO软件的轨迹运行仿真验证了该控制算法的有效性。
The control model of three degree of freedom parallel barinder based on PMAC is studied, the fuzzy PID controller for the parallel barinder is designed, the effectiveness of this control algorithm is verified through the numerical simulation of Matlab software and the track run simulation of PEWIN32PRO software.
出处
《机械传动》
CSCD
北大核心
2012年第11期36-39,47,共5页
Journal of Mechanical Transmission
