摘要 :
Underactuated mechanical systems have their own difficulties within the control criterion. As a particular and complex underactuated mechanical system, underactuated truss-like robotic finger (UTRF) is studied by establishing its ...
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Underactuated mechanical systems have their own difficulties within the control criterion. As a particular and complex underactuated mechanical system, underactuated truss-like robotic finger (UTRF) is studied by establishing its dynamic model. The control problems include high nonlinearity, model inaccuracy and uncertainties. Type-2 fuzzy logic control method is supposed to be a proper way to solve these problems, because fuzzy logic control itself does not depend on an accurate model of the controlled object, and type-2 fuzzy logic control is able to handle uncertainties. The basic principle of type-2 fuzzy logic control is then analyzed. Moreover, an interval type-2 fuzzy logic controller is designed for UTRF to accomplish the goal of stabilization in its equilibrium point. Simulation result shows that the designed interval type-2 fuzzy logic controller is correct and effective.
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摘要 :
Underactuated Trussed Robot Finger is a newly proposed underactuated robot. Based on its physical structure, dynamic model is established by using the Lagrange mechanics method. Moreover, the nonlinear system's properties are anal...
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Underactuated Trussed Robot Finger is a newly proposed underactuated robot. Based on its physical structure, dynamic model is established by using the Lagrange mechanics method. Moreover, the nonlinear system's properties are analyzed, including non-integrity and stablizability. Besides, the control goal is considered as being stabilized in the vertical equilibrium point. To achieve this goal, feedback control law is proposed by using pole placement method. Then simulation is conducted in MATLAB/Simulink environment. Simulation results indicate that the feedback control rule can effectively realize the goal of stabilizing the robot finger in the vertical equilibrium point. It can satisfy that the designed control rules are correct and effective, and the system has anti-interference ability.
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