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 g