Optimal design method of adaptive fuzzy controller of multi degree of freedom manipulator system
An adaptive fuzzy and optimal design technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of only considering the tracking accuracy of the system, unable to guarantee the control quality of the control system, and difficult to detect.
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[0082] Specific examples are given below to further describe the technical solution of the present invention in a clear, complete and detailed manner. This embodiment is the best embodiment on the premise of the technical solution of the present invention, but the protection scope of the present invention is not limited to the following embodiments.
[0083] An optimal design method for an adaptive fuzzy controller of a multi-degree-of-freedom manipulator system includes the following steps:
[0084] S1: According to the specific structure and joint parameters of the manipulator, establish the kinematic equation of the manipulator, and further determine the change trajectory of each joint variable of the multi-degree-of-freedom manipulator system according to the expected trajectory of the end effector;
[0085] S2: Establish the dynamic equation of the manipulator system according to the traditional Lagrangian dynamic equation as an approximate system dynamic model;
[0086]...
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