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以含有一个自由关节的三自由度机械臂为研究对象,对其轨迹跟踪问题进行了实验研究。依据模糊控制理论设计了一种简单的模糊控制方法,该方法具有参数调整容易,实时计算量小等优点。搭建了3R欠驱动机械臂实验装置及其控制系统,利用主、被动关节间的动力学耦合作用,在该实验系统上实现了机械臂的圆弧轨迹跟踪任务,结果表明,实验具有较高的控制精度。
Taking a three - freedom manipulator with a free joint as the research object, the trajectory tracking problem is studied experimentally. According to fuzzy control theory, a simple fuzzy control method is designed. The method has the advantages of easy parameter adjustment and small real-time calculation. A 3R under-actuated manipulator experimental device and its control system were set up. By using the dynamic coupling between the main and passive joints, the arc trajectory tracking task of the manipulator was realized on the experimental system. The results show that the experiment has high control precision.