中山大学学报（自然科学版）（中英文）2026，Vol.65Issue(1)：43-51,9.DOI:10.13471/j.cnki.acta.snus.ZR20250087
基于模糊前馈控制的关节型机器人振动抑制算法
Vibration suppression for articulated robot by fuzzy feedforward control
摘要
Abstract
This paper presents a hybrid control strategy combining feedforward compensation and fuzzy control.The approach leverages an accurate dynamic model for feedforward control and incorporates fuzzy logic to enhance overall controller performance.Key vibration sources during robot operation are analyzed,and trajectory accuracy,as defined by ISO9283,is adopted as the evaluation metric.The proposed fuzzy feedforward controller is compared with traditional PD control and feedforward-compensated PD control.Simulation results demonstrate that the proposed method significantly improves trajectory tracking accuracy and vibration suppression,validating its effectiveness.关键词
关节型机器人/动力学模型/前馈控制/模糊控制/振动抑制Key words
articulated robot/dynamic model/feedforward control/fuzzy control/vibration suppression分类
信息技术与安全科学引用本文复制引用
甘亚辉,徐升,韩早,李昂,徐杰威..基于模糊前馈控制的关节型机器人振动抑制算法[J].中山大学学报（自然科学版）（中英文）,2026,65(1):43-51,9.基金项目
国家自然科学基金(61873308) （61873308）
