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本文以两自由度机械手为控制对象,设计了 Fuzzy 控制器,编制了汇编程序。利用 TP-801单板机实现了实时控制.同时,对各种 Fuzzy 控制方案在机器人操作手上的控制效果进行了仿真和实验研究,并作了比较.仿真和实验的结果都表明:将 Fuzzy 控制器用于机器人控制是可行的,Fuzzy 控制系统具有很强的鲁棒性,而且算法简单可靠,实验证明能够实现实时控制.
In this paper, a two-degree-of-freedom manipulator is taken as the control object, a Fuzzy controller is designed and an assembly program is compiled. The real-time control is realized by TP-801 single-board computer.At the same time, the simulation results and experimental results of the control effects of various Fuzzy control schemes on robot manipulators are compared and compared.The simulation and experimental results show that: The controller is feasible for robot control. Fuzzy control system has strong robustness. The algorithm is simple and reliable, and the experiment proves that real-time control can be realized.