摘要
将拉格朗日和假设模态法相结合,建立了柔性机器人操作臂的动力学方程,并提出了一种模糊自适应控制策略。在柔性操作臂末端带有不同的载荷时,分两种情况进行了控制仿真实验:定位控制和轨迹跟踪控制。与PD控制仿真实验的结果相比较,模糊自适应控制器在轨迹跟踪和振动抑制方面反映出更好的稳定和鲁棒性能。
A fuzzy adaptive controller is proposed for a flexible robot manipulator. Due to the linkstructural flexibility, the vibration modes must be controlled to realize high-precision tipposition. The Lagrangian principle is utilized to model the single flexible manipulatorincorporating the assumed modes method. Simulation results of the fuzzy adaptivecontroller in positioning control and trajectory tracking with different tip disturbance arepresented and compared with the results of a classic PD controller. It shows that theproposed controller can obtain good stable and robust performance.
出处
《制造业自动化》
2002年第6期10-13,18,共5页
Manufacturing Automation
基金
国家计委211工程资助项目(2102002001)
关键词
柔性机器人操作臂
拉格朗日方程
假设模态
模糊自适应控制
Flexible robot manipulator, Lagrangian principle, assumed modes method, fuzzy adaptivecontroller
