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研究一类平面双连杆受限柔性机器人的混合位置/力控制问题,提出一种自适应模糊逻辑控制方案,利用遗传学习算法对控制器中的参数进行学习和修正,达到提高系统控制精度、改善系统鲁棒性的目的.计算机仿真结果表明这种控制器设计方案具有很好的特性
The hybrid position / force control problem of a planar double-link constrained flexible robot is studied. An adaptive fuzzy logic control scheme is proposed. The genetic learning algorithm is used to learn and correct the parameters in the controller so as to improve the system control precision, Improve system robustness.Computer simulation results show that this controller design has good characteristics