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A Method for Determining Parameters of Indirect Adaptive Fuzzy Control of Parallel Robot

An adaptive fuzzy and control parameter technology, applied in adaptive control, general control system, control/adjustment system, etc., can solve the problems of reducing system control precision and inaccurate fuzzy control rules

Active Publication Date: 2019-08-27
CHANGAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

For pure fuzzy control, due to the influence of various uncertain factors such as nonlinearity, time-varying and random interference in the control process of parallel robots, the fuzzy control rules will be inaccurate and the accuracy of system control will be reduced.

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  • A Method for Determining Parameters of Indirect Adaptive Fuzzy Control of Parallel Robot
  • A Method for Determining Parameters of Indirect Adaptive Fuzzy Control of Parallel Robot
  • A Method for Determining Parameters of Indirect Adaptive Fuzzy Control of Parallel Robot

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Embodiment Construction

[0080] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0081] An embodiment of the present invention provides a method for determining the indirect adaptive fuzzy control parameters of a parallel robot, wherein the indirect adaptive fuzzy control parameters of the parallel robot are the adaptive control rate of the control target of the parallel robot, such as figure 1 As shown, the method includes the following steps:

[0082] Step 1, establish the dynamic model of the parallel robot.

[0083] Aiming at the para...

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Abstract

The invention belongs to the technical field of fuzzy control of parallel robots, and discloses a method for determining indirect self-adaptive fuzzy control parameters of parallel robots. The method includes the following steps: establishing a dynamic model of parallel robots; determining the control target of parallel robots; The dynamic model of the parallel robot is used to determine the fuzzy controller of the parallel robot; according to the control target of the parallel robot and the fuzzy controller of the parallel robot, the adaptive control rate of the control target is determined; it can be adaptively adjusted The parameters of the fuzzy control system are used to obtain a given tracking error performance index to achieve high-quality control requirements.

Description

technical field [0001] The invention relates to the technical field of fuzzy control of parallel robots, in particular to a method for determining indirect self-adaptive fuzzy control parameters of parallel robots. Background technique [0002] Compared with series robots, parallel robots have greatly expanded the scope of application of robots due to their advantages such as high rigidity, compact structure, strong carrying capacity, high precision, and small motion inertia, such as in medical, machine tool, industry, aerospace, seabed, etc. It has a wide range of applications in fields such as homework, bioengineering, and service. But in fact, the complexity of the parallel robot and the highly nonlinear and strong coupling of its system itself, the manufacturing error in the manufacturing process and the external interference all make the research of parallel robot very complicated. Therefore, the high nonlinearity of the parallel robot robot system itself and a large n...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 惠记庄罗丽郭云欣杨永奎郑恒玉王其锋
Owner CHANGAN UNIV