3R plane robot impedance control based on fuzzy PD controller
文献类型：期刊论文
| 作者 | Gao HW(高宏伟) ; Hong K(洪昆); Song JH(宋建辉)
|
| 刊名 | Journal of Convergence Information Technology
 |
| 出版日期 | 2012 |
| 卷号 | 7期号:20页码:234-241 |
| 关键词 | 3R Plane Robot Kinematics Dynamics Fuzzy PD Impedance Control |
| ISSN号 | 1975 9320 |
| 产权排序 | 1 |
| 中文摘要 | 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. |
| 收录类别 | EI |
| 语种 | 英语 |
| 公开日期 | 2012-12-28 |
| 源URL | [http://ir.sia.cn/handle/173321/10354]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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