并联机器人智能控制研究现状  

The State of Research on Intelligent Control of Parallel Robot

作　　者：李艳[1] 王勇[1] 陈正洪[1,2] 赵荣齐[1] 

机构地区：[1]山东大学机械工程学院,山东济南250061 [2]山东交通学院工程机械系,山东济南250023

出　　处：《机床与液压》2008年第12期180-182,140,共4页Machine Tool & Hydraulics

基　　金：国家自然科学基金(50775130);山东省自然科学基金项目(Y2002F13)

摘　　要：近年来并联机器人已成为机器人领域研究的热点之一,由于其具有不确定性、高度非线性、控制复杂等特点,理论研究还处在发展阶段,控制精度和实时性都有待提高。而智能控制是一个新兴的学科,是控制领域发展的高级阶段。将智能控制引入并联机器人有助于提高并联机器人的控制性能。总结了智能控制中的模糊控制、神经网络控制以及集成智能控制在并联机器人领域的应用现状,并指出了未来发展方向。The parallel robot has become a hot-point of robot in recent years. Because of its uncertainty, high nonlinearity and complicated control, the theory＇ research is still in the developing phase. The control precision and the real-time performance have to be improved. However, intelligent control is a new discipline, and it is the advanced phase of control domain. It is helpful to improve the control performance of parallel robot that intelligent control is used for parallel robot. The application state of fuzzy control, neural network control and integrated intelligent control that are used in parallel robot was summarized. The development trend of the said system was discussed.

关 键 词：并联机器人 模糊控制 神经网络控制 集成智能控制 

分 类 号：TH112[机械工程—机械设计及理论]