摘要
提出一种新型并联机器人,通过分析并判断其雅可比矩阵,证明该机构可以进行无内部相对运动的整体快速、稳定运动。为满足其快速运动要求,提出一种基于模糊推理系统(FIS)的轨迹规划算法。运用模糊推理将障碍位置信息与其沿某一方向运动的比例信息模糊化,建立模糊规则并解模糊最终获得精确路径输出。仿真实验验证了算法的有效性。
A novel 6 -PRRS parallel robot is introduced,the robot can move quickly and stably without inner relative motion by analyzing and judging its Jacobian matrix. To make the moving platform move fast,a path planning algorithm based on fuzzy inference system （FIS） is presented. Through FIS, the input information position and ratio are fuzzed,fuzzy rules are established, and theri obtain the accurate path output. Simulation results show the efficiency of the presented algorithm.
出处
《机械与电子》
2008年第1期51-54,共4页
Machinery & Electronics
关键词
路径规划
并联机器人
模糊推理系统
motion planning
parallel robot
fuzzy inference system
