机械制造与自动化Issue(6)：159-163,5.
一种弧焊机器人轨迹跟踪控制方法的研究
Study of Tracking Control Method of Arc Welding Robot
张淑珍 1冯振民 1于子然1
作者信息
- 1. 兰州理工大学 机电工程学院，甘肃 兰州730050
- 折叠
摘要
Abstract
Because the nonlinear dynamic characteristics and uncertain factors exist in the arc welding robot,to improve the tracking accuracy and the control ing performance,this paper makes a study of its trajectory control and puts forward,the trajectory tracking control method based on Gauss Fuzzy neural network. In this method,Gauss function is taken as the membership function and the neural network is combine with the fuzzy control to design Gauss Fuzzy network control er. The steep descent method in nonlinear programming is applied to the self-learning of the fuzzy neural network,which can be used for the online adjustmen of the center of the membership function and the joint coupling weights and to make the control er have a better self-learning and adaptive ability. The simulation results show that this method can be used to wel control the robot trajectory tracking.关键词
模糊神经网络/高斯基函数/弧焊机器人/轨迹跟踪Key words
fuzzy neural network/gauss function/arc welding robot/trajectory tracking分类
信息技术与安全科学引用本文复制引用
张淑珍,冯振民,于子然..一种弧焊机器人轨迹跟踪控制方法的研究[J].机械制造与自动化,2016,(6):159-163,5.
