基于小波神经网络的机械臂力/位置控制算法  

Force/position control algorithm for manipulator based on wavelet network

作　　者：黄绍辉[1] 曹小涛[1] 李元春[1] 

机构地区：[1]吉林大学通信工程学院,长春130022

出　　处：《吉林大学学报（工学版）》2008年第1期163-167,共5页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(60674091)

摘　　要：基于小波神经网络,提出了一种新的受时变约束机器人力/位置控制算法。由系统约束关系推导了降阶的动力学模型,基于降阶模型设计了鲁棒小波神经网络力/位置控制算法。由Barbalat给出了系统的稳定性证明。数值仿真结果验证了本文控制算法的有效性。For rheonomically constrained manipulator systems, a robust position/force control algorithm was designed on the basis of wavelet network for the approximation of nonlinear part and unmodelled dynamics of robotic systems. A compensation term was used to simplify the wavelet network structure, and the control algorithm can guarantee the system robustness and solve force/ position control problem. Theoretical analysis and simulation were carried out to demonstrate the effectiveness of the proposed control method.

关 键 词：自动控制技术 机械臂 力/位置控制 小波神经网络 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]