摘要
针对典型的三关节液压挖掘机器人,结合力反馈与模糊神经网络方法提出了力/位置并环递阶控制策略.实现了具有自学习功能的挖掘机器人的作业过程运动控制.仿真分析表明,将这种控制策略用于挖掘机器人的运动控制系统具有可行性.
Based on the force/position feedback and fuzzy-neural network method,a force and position parallel control strategy for three-joints hydraulic robotic excavator with self-learning features is presented and the mo- tion control of its excavating operation is realized.The simulation analysis showed that the strategy for the motion control system of the robotic excavator has feasibility.
出处
《中国工程机械学报》
2003年第1期54-58,共5页
Chinese Journal of Construction Machinery
关键词
挖掘机器人
力反馈
模糊神经网络
运动控制
仿真
robotic excavator
force feedback
fuzzy neural network
motion control
simulation
