本文的主要工作是机械臂终端多自由度视频头调节机械手的运动学建模及其参数自适应模糊PID控制系统的设计。
The kinematics modeling and parameters adapt fuzzy-PID control system design of the video regulator manipulator on the terminal of the arm is the focus of this text.
本文提出了机械手在关节坐标系中的引入积分作用的线性扰动自适应控制和引入重力补偿的模型跟随自适应控制方案。
This paper proposes a linear perturbation adaptive control scheme with integrators and a model following control scheme with gravity compensation for robot manipulators.
针对三自由度机械手轨迹跟踪问题的仿真实验表明，采用T-S型模糊神经网络的机械手轨迹跟踪自适应控制方案是可行的和有效的。
Simulation results of a 3-DOF industrial manipulator trajectory tracking system are presented to show the proposed control scheme is practical and effective.
针对三自由度机械手轨迹跟踪问题的仿真实验表明，采用T-S型模糊神经网络的机械手轨迹跟踪自适应控制方案是可行的和有效的。
Simulation results of a 3-DOF industrial manipulator trajectory tracking system are presented to show the proposed control scheme is practical and effective.
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