高技术通讯（英文版）2004，Vol.10Issue(2)：57-60,4.
The Redundant Arm Self-motion Control Based on Self-tuning Fuzzy PID Controller
The Redundant Arm Self-motion Control Based on Self-tuning Fuzzy PID Controller
摘要
Abstract
A fuzzy control algorithm based on self-tuning PID proportional factor is presented. To a certain degree, it overcomes robot motion control's nonlinearity and uncertainty caused by joints coupled and friction, and decreases overshoot of end manipulator's tracking desired curves. The controller's structure is very simple but effective. With this control method, a 7-DOF redundant arm's self-motion developed by the authors is investigated. Research results show that the said controller restrains track overshoot and possesses preferable merits.关键词
proportional factor/self-tuning fuzzy PID controller/trajectory-tracking error/self-motion controlKey words
proportional factor/self-tuning fuzzy PID controller/trajectory-tracking error/self-motion control分类
信息技术与安全科学引用本文复制引用
Liu Yu(刘宇),Sun Lining,Du Zhijiang..The Redundant Arm Self-motion Control Based on Self-tuning Fuzzy PID Controller[J].高技术通讯（英文版）,2004,10(2):57-60,4.基金项目
Supported by the High Technology Research and Development Programme of China. （）
