摘要
提出了一种模糊柔顺的控制方法来控制机器人的装配作业.本方法不需要装配作 业的模型参数,省去了大量的计算.并且在控制过程中不需要引入受力信息的变化量.实验 证明,这种方法实用性强,实时性好.
A fuzzy compliant control method is presented for robot assembly. No model parameters of assembly are required in the experiment and thereby, large quantity calculations can be saved. Yet the force information of variables is not needed to introduce into the procedure of assembly. Experiment results obtained show considerable feasibility.
出处
《北京科技大学学报》
EI
CAS
CSCD
北大核心
2003年第1期74-78,共5页
Journal of University of Science and Technology Beijing
