摘要
设计了小脑神经网络控制器。采用分散控制策略利用小脑神经网络来消除并联机器人控制系统非线性、耦合的影响及学习系统的不确定信息,作为前馈补偿使系统跟踪误差快速收敛;并采用PID作为反馈控制,保证系统的稳定性,从而实现6-PRRS并联机器人的快速、稳定轨迹跟踪。
This controller uses distributed control strategy and employs cerebellar model articulation controller（CMAC）,which used as feedforward controller to assure to converge of tracking error as quickly as possible,to clear the affection of nonlinear and coupling and learn the uncertain information of parallel robot plan.The stability of system is achieved by a proportional-integratederivative（PID） controller in the feedback path.So implement the trajectory tracking of 6-PRRS parallel robot fast and steadily.
出处
《微型机与应用》
2010年第19期70-72,共3页
Microcomputer & Its Applications
基金
中国民航大学科研启动基金(09QD09S)
