| 基于 FNN 机器人擦洗玻璃的力/位并环控制 |
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| 引用本文： | 殷跃红,胡盛海,尉忠信,朱剑英. 基于 FNN 机器人擦洗玻璃的力/位并环控制[J]. 航空学报, 1997, 18(4): 501-504 |
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| 作者姓名： | 殷跃红 胡盛海 尉忠信 朱剑英 |
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| 作者单位： | 南京航空航天大学机电工程学院 |
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| 摘 要： | 对机器人的力反馈、主动柔顺控制和模糊神经网络进行了综合研究，提出了力/位并环控制策略，建立了相应的模糊神经网络结构，实施了力/位并环控制算法，在AdeptThree精密装配机器人进行了试验，取得了满意的效果。
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| 关 键 词： | 机器人 力控制 模糊神经网络 主动柔顺控制 |
| 收稿时间： | 1996-06-18; |
| 修稿时间： | 1997-01-12 |
FORCE & POSITION PARALLEL LOOP CONTROL FOR MANIPULATOR′S WIPING GLASS BY FNN |
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| Yin Yuehong,Hu Shenghai,Wei Zhongxin,Zhu Jianying. FORCE & POSITION PARALLEL LOOP CONTROL FOR MANIPULATOR′S WIPING GLASS BY FNN[J]. Acta Aeronautica et Astronautica Sinica, 1997, 18(4): 501-504 |
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| Authors: | Yin Yuehong Hu Shenghai Wei Zhongxin Zhu Jianying |
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| Affiliation: | Mechanical Engineering Institute, Nanjing University of Aeronautics & Astronautics,Nanjing, 210016 |
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| Abstract: | The theories of force feedback, active compliance control and fuzzy neural network are dealt with in detail.Firstly the strategy of force & position parallel loop control is presented systematically. By means of it, a related structure of fuzzy neural network is built, and an algorithm is designed. At last, the experimental researches about wiping a plain glass are implemented in an AdeptThree robot manipulator. Good results are obtained. |
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| Keywords: | robotics force control fuzzy neural network active compliance control |
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