模糊控制在工业机器人中的应用研究∗

摘要

工业机器人各关节之间关系十分复杂，其转动惯量随着运动位置的变化而变化是非线性控制。要使工业机器人的各关节达到高精度、无超调及快速平稳控制是技术难题。通过介绍工业机器人模糊控制系统的结构及其模型建立的过程，分析了机器人模糊控制的关节控制系统及调节特性。实践表明将模糊控制应用于工业机器人控制可以达到良好的控制性能要求。%Relationship between each joint of industrial robot is very complicated,It is nonlinear control that the moment of inertia changes with the motion change.In order to realize the several joints of industrial robot with high precision,no o-vershoot and fast and stable control is a very difficult work.The paper introduced the industrial robot fuzzy control process of the establishment of the system and the model,and analyzed the robot joint control system and fuzzy control regulation characteristics.Practice results showed that the fuzzy control applied to the industrial robots can achieve good control per-formance requirements.