模糊Hybrid控制及其在機器人裝配作業中的應用

Fuzzy Hybrid Control and Its Application in Robot Assembly Task

摘要: 本文根據模糊推理原理,提出了模糊混合(Hybrid)控制方法,并把它用于三自由度機械人的回柱二維插入過程中,實驗結果表明,該方法能使振動幅度減少95%以上,并消除了阻塞現象,更好地完成插入任務.

Abstract: Based on the fuzzy inference, a fuzzy hybrid control is proposed in this paper.This approach is applied to a peg-and-hole task using a robot with three degrees of freedom. The experiment showed that the amplitude of the vibrations could be reduced more than 95% by the approach, and the jamming was eliminated to make the task be accomplished more smoothly.