Flexible mechanical arm system fuzzy control method based on series/parallel estimation model
A technology for flexible manipulators and estimation models, which can be applied to manipulators, program control, general control systems, etc., and can solve the problems of inversion method complexity explosion, complexity explosion, and poor system robustness
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[0103] The present invention will be further described below in conjunction with the accompanying drawings.
[0104] refer to figure 1 – Figure 7 , a kind of fuzzy control method of flexible manipulator system based on series-parallel estimation model, described control method comprises the steps:
[0105] Step 1: Establish a dynamic model of the flexible manipulator servo system, initialize the system state, sampling time and control parameters, the process is as follows:
[0106] 1.1 The expression of the motion equation of the dynamic model of the flexible manipulator servo system is
[0107] I q ·· + K ( q - θ ) + ...
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