| 5自由度机器人手臂模糊自适应控制 |
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| 引用本文： | Farooq M,王道波.5自由度机器人手臂模糊自适应控制[J].南京航空航天大学学报(英文版),2007,24(1):43-47. |
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| 作者姓名： | Farooq M 王道波 |
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| 作者单位： | 南京航空航天大学自动化学院,南京,210016,中国 |
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| 摘 要： | 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.
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| 关 键 词： | 机器人手臂 自适应模糊控制 控制器输出误差法 梯度下降法 robotic arm manipulator adaptive fuzzy control controller output error method (COEM) gradient descent algorithm 自由度 机器人手臂 模糊 适应控制 MANIPULATOR ROBOT FUZZY CONTROL Simulation results show effectiveness real time adjustment adaptive fuzzy controller control system parameters gradient descent algorithm used design output |
| 文章编号： | 24134141 |
| 修稿时间： | 11 7 2005 12:00AM |
ADAPTIVE FUZZY CONTROL FOR ROBOT ARM MANIPULATOR WITH 5-DOF |
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| Farooq M,Wang Daobo.ADAPTIVE FUZZY CONTROL FOR ROBOT ARM MANIPULATOR WITH 5-DOF[J].Transactions of Nanjing University of Aeronautics & Astronautics,2007,24(1):43-47. |
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| Authors: | Farooq M Wang Daobo |
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| Institution: | College of Automation Engineering, NUAA, 29 Yudao Street, Nanjing, 210016, P. R. China |
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| Abstract: | To control the robot and track the designed trajectory with uncertain disturbances in a specified precision range, an adaptive fuzzy control scheme for the robot arm manipulator is discussed. The controller output error method (COEM) is used to design the adaptive fuzzy controller. A few or all of the parameters of the controller are adjusted by using the gradient descent algorithm to minimize the output error. COEM is adopted in the adaptive control system for the robot arm manipulator with 5-DOF. Simulation results show the effectiveness of the method and the real time adjustment of the parameters. |
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| Keywords: | robotic arm manipulator adaptive fuzzy control controller output error method (COEM) gradient descent algorithm |
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