SIA OpenIR  > 机器人学研究室
3R plane robot impedance control based on fuzzy PD controller
Gao HW(高宏伟); Hong K(洪昆); Song JH(宋建辉)
作者部门机器人学研究室
关键词3r Plane Robot Kinematics Dynamics Fuzzy Pd Impedance Control
发表期刊Journal of Convergence Information Technology
ISSN1975 9320
2012
卷号7期号:20页码:234-241
收录类别EI
EI收录号20124715701943
产权排序1
摘要The impedance control problem of three-link plane robot is investigated. Firstly, the kinematics and dynamics model of robot is derived. Second, the impedance control model is established. Then, the fuzzy PD joint controller is formatted when the fuzzy theory is introduced into the joint PD controller of robot. The combination of controller and the impedance model is taken into the control of position and contact force of robot by taking into account the environmental constraints. Finally, higher control accuracy of fuzzy PD impedance control than traditional algorithms is proved by the simulation of PDimpedance control and fuzzy PD impedance control.
语种英语
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/10354
专题机器人学研究室
作者单位1.School of Information Science and Engineering, Shenyang Ligong University, Shenyang 110159, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式
GB/T 7714
Gao HW,Hong K,Song JH. 3R plane robot impedance control based on fuzzy PD controller[J]. Journal of Convergence Information Technology,2012,7(20):234-241.
APA Gao HW,Hong K,&Song JH.(2012).3R plane robot impedance control based on fuzzy PD controller.Journal of Convergence Information Technology,7(20),234-241.
MLA Gao HW,et al."3R plane robot impedance control based on fuzzy PD controller".Journal of Convergence Information Technology 7.20(2012):234-241.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
3R plane robot imped(1146KB) 开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Gao HW(高宏伟)]的文章
[Hong K(洪昆)]的文章
[Song JH(宋建辉)]的文章
百度学术
百度学术中相似的文章
[Gao HW(高宏伟)]的文章
[Hong K(洪昆)]的文章
[Song JH(宋建辉)]的文章
必应学术
必应学术中相似的文章
[Gao HW(高宏伟)]的文章
[Hong K(洪昆)]的文章
[Song JH(宋建辉)]的文章
相关权益政策
暂无数据
收藏/分享
文件名: 3R plane robot impedance control based on fuzzy PD controller.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。