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本文介绍了一种新的无模型专家控制器,并给出相应的理论和构造方法。经过对一机器人进行微机实时控制实验表明,专家控制能显著提高机器人关节系统的动态性能、定位精度及抗干扰能力,具有很强的鲁棒性。
This paper introduces a new modelless expert controller and gives the corresponding theory and construction method. Experiments on real-time microcomputer control of a robot show that expert control can significantly improve the dynamic performance, positioning accuracy and anti-interference ability of the robot joint system, and has strong robustness.