摘要
本文所研究的机器人是SCARA型教学机器人,它是一个四自由度机器人．有三个旋转关节,一个滑动关节。论文研究了采用模糊逻辑系统作为未知非线性对象的辨识器的方法来建立机器人的逆运动学方程．由此建立的机器人结构系统动力学模型的动态特性与实验测试结果具有较好的一致性。
The SCARA teaching robot which this article studies is a four joints of robot .It has three around joints and one smooth joint .What this text studies is that adopt the fuzzy logic system as the identifier to establish the inverse motion formula of the robot ,and so the dynamic characteristics of the robot kinetics model has a good parity with the result of experiment.
出处
《仪器仪表用户》
2007年第1期61-62,共2页
Instrumentation
关键词
D-H参数
模糊辨识
模糊辨识器
模糊自适应控制
反向传播学习算法
D-H parameters
Fuzzy identification
Fuzzy identifier
Fuzzy adaptive control
Back-propagation learning algorithm
