欠驅(qū)動(dòng)兩自由度機(jī)械臂的模糊控制

分析了欠驅(qū)動(dòng)兩自由度機(jī)械臂主、被動(dòng)關(guān)節(jié)間的動(dòng)力學(xué)耦合特性，指出了被動(dòng)關(guān)
節(jié)處于不同位置時(shí)耦合特性的差異。針對(duì)主、被動(dòng)關(guān)節(jié)間的動(dòng)力學(xué)耦合特性及其差異，提出了兩種不同的模糊控制策略，實(shí)驗(yàn)結(jié)果證明當(dāng)被動(dòng)關(guān)節(jié)處于不同位置時(shí)，該策略均能使機(jī)械臂達(dá)到較高的位置控制精度。
關(guān)鍵詞：欠驅(qū)動(dòng)；機(jī)械臂；動(dòng)力學(xué)耦合；模糊控制
Abstract：The dynamic coupling between active joint and passive joint of a 2 DOF
underactuated manipulator and its difference while the passive joint at different positions are
analysed. Based on that, different fuzzy controll strategies are presented. The experimental results show that the proposed strategies have high precision for the position control of the manipualtor while the passive joint at different positions.
Key words：Underactuated; Manipulator; Dynamic coupling; Fuzzy control