Decoupling control of the two-link flexible manipulator

被引：0
|
作者：
Zhang, Lingbo [1 ]
Sun, Fuchun [1 ]
Sun, Zengqi [1 ]
机构：
[1] Tsinghua Univ, Dept Comp Sci & Technol, State Key Lab Intelligent & Syst, Beijing 100084, Peoples R China
来源：
2006 IMACS: MULTICONFERENCE ON COMPUTATIONAL ENGINEERING IN SYSTEMS APPLICATIONS, VOLS 1 AND 2 | 2006年
基金：
美国国家科学基金会;
关键词：
flexible link manipulator; decoupling control; joint coupling; cloud model;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
To compensate for the coupling force between the joints of the two-link manipulator, using the tip deflection measured by an optical measurement device with position sensitive detectors (PSD), a decoupling controller based on the cloud model is presented in this paper. In the proposed control strategy, the control experience qualitatively expressed by linguistic is transformed into the control rulers through linguistic atoms and cloud models with normal representation. The Experiment studies on the test-bed of a two-link flexible manipulator are carried out to show the capability and effectiveness of the proposed approach.
引用
收藏
页码：2045 / +
页数：2
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