介绍了一种机械手的模糊逻辑控制的新方法．它能根据系统的前期响应自动修改误差变化率的隶属函数来获得理想的控制特性．在研究隶属函数对控制特性影响的基础上，首先确定一族参数化的隶属函数．然后，用Ｎｅｌｄｅｒ－Ｍｅａｄ单纯形算法优化模糊逻辑控制器．最后，用该模糊控制器控制一个具有非线性动力学特征的两自由度机械手，验证了所提方案的有效性和鲁棒性 A new method of fuzzy logic control of manipulator is introduced. It can be based on the system’s early response to automatically modify the rate of change of the membership function to obtain the desired control characteristics. Based on the study of the influence of membership function on the control characteristics, the membership functions of a family of parameters are first determined. Then, the fuzzy logic controller is optimized using the Nelder-Mead simplex algorithm. Finally, the fuzzy controller is used to control a two-degree-of-freedom manipulator with nonlinear dynamic characteristics to verify the effectiveness and robustness of the proposed scheme