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题名: 3R plane robot impedance control based on fuzzy PD controller
作者: 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
刊名: Journal of Convergence Information Technology
ISSN号: 1975 9320
出版日期: 2012
卷号: 7, 期号:20, 页码:234-241
收录类别: EI
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.
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/10354
Appears in Collections:机器人学研究室_期刊论文

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