摘要
对喷漆机器人的动力学和运动学进行了分析,研究了模糊智能控制器在广义脉码调制喷漆机器人中的应用,并设计了相应的模糊控制器。进行了机器人定位和轨迹跟踪试验研究,试验结果达到了预期控制精度,有效地验证了液压脉码调制理论,为它的应用提供了理论与试验基础。
The kinematics and dynamics of spraying manipulator are analyzed. The intelligent controller used for spraying manipulator with generalization pulse code modulation(GPCM) contrlo is studied, and a kind of lintelligent controller is designed. The manipulator positioning and tracking tracing experiments are performed. The study results show that the GPCM control is feasible, and provide the theoretical and experimental foundation for application.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2002年第z1期203-206,共4页
Journal of Mechanical Engineering
基金
国家自然科学基金(59805016)