The Redundant Arm Self-motion Control Based on Serf-tuning Fuzzy PID Controller  

作　　者：LiuYu SunLining DuZhijiang 

机构地区：[1]RoboticsInstitute,HarbinInstituteofTechnology,Harbin150001,P.R.China

出　　处：《High Technology Letters》2004年第2期57-60,共4页高技术通讯（英文版）

摘　　要：A fuzzy control algorithm based on self-tuning PID proportional factor is presented. To a certain de-gree, it overcomes robot motion control's nonlinearity and uncertainty caused by joints coupled and fric-tion, and decreases overshoot of end manipulator's tracking desired curves. The controller's structure is very simple but effective. With this control method, a 7-DOF redundant ann's self-motion developed by the authors is investigated. Research results show that the said controller restrains track overshoot and preferable merits.

关 键 词：比例因子 自调整模糊PID控制器 弹道寻迹误差 自运动控制 机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]