机器人操纵臂的模糊逻辑动力学建模

Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI:10.1109/ROBOT.1998.680719

M. Emami, A. Goldenberg, I. Türksen

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引用次数: 8

摘要

将系统输入输出数据的模糊逻辑建模方法应用于四自由度机器人机械臂的动力学行为建模。将模糊模型的输出结果与实验数据和分析仿真结果进行了比较。模糊模型的简单性及其精度的提高是显著的。

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Fuzzy-logic dynamics modeling of robot manipulators

A systemic approach of fuzzy-logic modeling from the system input-output data is applied to modeling dynamics behavior of a four degree-of-freedom robot manipulator. The output of the fuzzy model is compared with the experimental data and with that of an analytical simulation. The simplicity of the fuzzy model and its improved accuracy is significant.

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Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)

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