现代科学仪器Issue(3)：21-24,4.
基于模糊神经网络的不确定机器人实时轨迹跟踪控制的研究
Study on Real-Time Trajectory Tracking Control for Robot Manipulators with Uncertainties Based on Fuzzy Neural Network
摘要
Abstract
A real-time trajectory tracking control method for robot manipulators with uncertainties based on new fuzzy neural network is proposed to solve the uncertainty in robot manipulator dynamic system. The controller was composed of Fuzzy Neural Network （FNN） controller which replaced computed torque controller, and cerebellar model articulation controller （CMAC） compensated control error online. The simulation study on a two-degree~-of-freedom robot showsed the validity and feasibility of the proposed strategy.关键词
机器人/轨迹跟踪/模糊神经网络/CMAC/不确定性Key words
Robot manipulator/Trajectory tracking/Fuzzy neural network/CMAC/Uncertainty分类
机械制造引用本文复制引用
杨丽,任淑艳,段海龙,路海龙..基于模糊神经网络的不确定机器人实时轨迹跟踪控制的研究[J].现代科学仪器,2012,(3):21-24,4.基金项目
天津市高等学校科技发展基金计划项目（20110833）,天津市自然科学基金项目（12JCYBJC12000）,天津职业技术师范大学科研发展基金项目（KYQD09017）,天津职业技术师范大学校级项目（KJ10-01）,天津工程师范学院科研发展基金项目 （）
