验证了液压驱动的仿真

Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI:10.1109/ROMOCO.1999.791047

D. Fansten, T. Mollers, H. Traczinski

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引用次数: 1

摘要

为了在不确定数据和误差传播的情况下获得可靠的仿真结果，我们采用区间算法和自作用误差演算方法，并将这些方法应用于液压驱动弹性机器人。本文描述了一种新的带有伺服阀的液压差动缸显式Sugeno-Takagi模糊模型表示，并表明仿真结果在大多数情况下是可以验证的，并且只会出现很小的误差。

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Verified simulation of a hydraulic drive

To obtain reliable simulation results in the context of uncertain data and error propagation we use interval arithmetics and a self acting error calculus, and apply these methods to a hydraulic driven elastic robot. We describe a new explicit Sugeno-Takagi fuzzy model representation of a hydraulic differential cylinder with servo valve and show that a verification of the simulation results is possible in most cases, and that only small errors occur.

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Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)

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