重庆理工大学学报：自然科学2012，Vol.26Issue(7)：42-49,8.
工业机器人的仿人智能控制
Human-Simulated Intelligent Control for Manipulator
摘要
Abstract
In this paper, for the time-varying, coupling and nonlinear characteristic, a Human-Simulated Intelligent Controller （HISC） has been adopted to control 3-degree manipulator. Human-Simulated Intelligent Controller uses multi-modal control based on feature model. So it can achieve good control in every feature status, and therefore it can take all the system＇ s stability, rapidity and accuracyinto consideration on the whole level. To verifying the validity of the HSIC controller, experiments have been done on the simulation platform. The result proved that the HSIC controller can get better performance in stability, rapidity and accuracy than conventional PD controller.关键词
仿人智能控制/工业机器人/特征模型/多模态控制Key words
human-simulated intelligent control/manipulator/feature model/multi-modal control分类
计算机与自动化引用本文复制引用
陈情,薛方正..工业机器人的仿人智能控制[J].重庆理工大学学报：自然科学,2012,26(7):42-49,8.基金项目
国家自然科学基金资助项目 （）
