| 不确定动态环境中约束机器人的建模 |
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| 引用本文： | 李医民.不确定动态环境中约束机器人的建模[J].湖南工业职业技术学院学报,2007,7(2):1-2. |
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| 作者姓名： | 李医民 |
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| 作者单位： | 江苏大学计算机科学与通信工程学院,江苏,镇江,212013 |
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| 摘 要： | 本文通过描述约束机器人在动态环境中的运动学及动力学来研究一种基于模型的机器人手臂的控制方法。这种方法从环境端来表示约束机器人末端的运动约束及与周围不确定环境的动力学交互。使用自调节模糊PID控制器的仿真对于强非线性的系统可满足机器人手臂的时变跟踪控制。
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| 关 键 词： | 机器人手臂 混合控制 模糊PID控制 约束动态系统 |
| 文章编号： | 1671-5004（2007）02-0001-02 |
| 修稿时间： | 2007-02-27 |
Modeling of Constrained Robot in a Dynamic Environment With Uncertainty |
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| LI Yi-min.Modeling of Constrained Robot in a Dynamic Environment With Uncertainty[J].Journal of Hunan Industry Polytechnic,2007,7(2):1-2. |
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| Authors: | LI Yi-min |
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| Affiliation: | School of Computer Science and Telecommunication Engineering, University of Jiangsu, Zhenjing 212013 Jiangsu |
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| Abstract: | This paper investigates a model-based method for robot manipulator control by describing the kinematics and dynamics of constrained robot when contacting a dynamic environment.Parameters which concern kinematic constraints of robot end effector,dynamic interactions and uncertainty of environment are represented from the environment side.The simulation results suggest that for the strong nonlinear system,a fuzzy logic self-turning PID controller can achieve the time-varying tracking control of the robot manipulator. |
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| Keywords: | robot manipulator hybrid control fuzzy PID control constrained dynamic system |
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