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为了在一定的跟踪精度范围内且存在不确定性因素的情况下控制机器人跟踪设定的轨迹,给出了一种基于控制器输出误差法的自适应模糊控制法来控制机器人手臂。采用梯度下降法调节部分或全部参数以减小输出误差。该方法被应用于5自由度机器人控制系统中,仿真结果显示模糊逻辑控制器参数得到了实时调整,该方法有效。
In order to control trajectory of robot tracking within a certain range of tracking accuracy and uncertainties, an adaptive fuzzy control method based on controller output error method is proposed to control the robot arm. Gradient descent method to adjust some or all of the parameters to reduce the output error. The method is applied to a 5-DOF robotic control system. The simulation results show that the parameters of the fuzzy logic controller have been adjusted in real time. This method is effective.