轻工机械2011，Vol.29Issue(2)：60-63,67,5.DOI:10.3969/j.issn.1005-2895.2011.02.017
被动腕关节曲面跟踪的模糊柔顺控制
Fuzzy Compliance Control of the Passive Wrist on Curved Surfaces Tracking
邬铭铭 1曹立中 1李登奎 1徐岳锋 1杨能 1梁秦锋1
作者信息
- 1. 浙江春晖智能控制股份有限公司,浙江,上虞,312300
- 折叠
摘要
Abstract
The configuration principle of compliantce polishing tool system utilized by the passive wrist was introduced.The system force cntrol scenario using the spring and linear stepping motor was expounded, through decoupling force/ position hybrid space to actively control the normal force in independent force space.After the force control system model was set up, using fuzzy-PID control algorithm to carry out real-time adjustment, and using Simulink to proceed simulation experiment of control system performance, using LabVIEW programed control system software, and combining a kind of free-curved surface working element to proceed normal force control experiment.Both the simulation and experiment results indicate that the system presents the fine dynamic character and good control effects on the normal force.[Ch,9 fig.1 tab.10 ref.]关键词
金属加工/被动腕关节/柔顺控制/模糊PID/虚拟仪器Key words
metal processing/ passive wrist/ compliant control/ fuzzy PID/ virtual instrument分类
信息技术与安全科学引用本文复制引用
邬铭铭,曹立中,李登奎,徐岳锋,杨能,梁秦锋..被动腕关节曲面跟踪的模糊柔顺控制[J].轻工机械,2011,29(2):60-63,67,5.
