超声电机驱动的机器人的模糊神经网络控制.docVIP

2 8 2 Vol . 28 No . 2 2 0 0 6 4 P IEZO EL EC T EC T R ICS A COU S TOO P T ICS Ap r . 2006 :1004 2474 (2006) 02 0143 04 1 ,2 ,1 ( 1 . ,210016 ;2 . ,,330034) :, , ,,, , ,, : ;;; : TM356 : A Fuzzy neuron Net work Control Techn iques Appl ied to a Robot Driven Directly by Ultra son ic Motors HE Hong l in1 , 2 , ZHAO Chun sheng1 ( 1 . Re sea rch Cent er of Ult ra so nic Mo to r s , Na nji ng U niver sit y of Aero na utics a nd A st ro na utics , Nanji ng 210016 ,Chi na ; 2 . Mecha nical Dep a rt ment , Na ncha ng In stit ut e of Aero na utics and Technolo gy , Nancha n 330034 ,Chi na) Abstract : The cha racteri stics of t he U SM such a s light weight , f a st respo nse speed and high to rque/ ma ss ratio ma ke it a n ideal act uato r fo r t he direct drive ro bo t . Ba sed o n t he servo cha racteri stics of t he U SM a nd t he dyna mic s of t he manip ulato r , a hybrid co nt rol system co mpo sed of a f uzzy co nt roller w hich ma ke s o verall system st able alo ng a t rajecto r y a nd a neuro n net wo r k co nt roller w hich aims to reduce t he stable er ro r fo r a pla nar ro bo t driven by U SM i s p ropo sed. The st r uct ure of t he hybrid co nt rller a nd t he design of t he t wo sub co nt roller s have been st udied. In o r der to validate t he eff ect of t he co nt rol met ho d , a si mulatio n of t he co nt rol system ha s been made . The re sult sho w s t hat a high po sitio n p reci se will be o btained wit h such a hybrid co nt roller . Key words : ult ra so nic mo to r ; direct drive ro bo t ;f uzzy lo gical co nt roller ; neuro n net wo r k co nt roller  , , , , ,,[ 1 ] , ,,,, ,,, ( U SM ) ; A . Kato SCA RA [ 2 ] ; , , ,, , , 1 , , 22 2 ,, ,,,( 310 ) ,,, , 20 90  1 . 1 USM ,  :2004 08 02 :( :( 1967 ) ,,,,,, 144 2006 [ 3 ] ,, nrato r = - h k0 /r ( 1) ;0 2 , n , ; h ; k ; r ; d L  L i i = 1 , 2 , , n ( 2