柔性机械臂TS模糊模型的辨识及其分析

作者：张雪莲1，潘铁强1，唐可洪2，马晓丽1 日期：2006-12-27/span> 浏览：3311 查看PDF文档

柔性机械臂TS模糊模型的辨识及其分析

张雪莲1，潘铁强1，唐可洪2，马晓丽1
(1.浙江工业大学 浙西分校，浙江 衢州 324006； 2.吉林大学 机械科学与工程学院，吉林 长春 130025)

摘要：针对柔性机械臂强非线性、强耦合性及不确定性等特点，利用TakagiSugeno模糊模型对柔性机械臂进行了建模。将模型的仿真结果和实验结果进行了对比分析，验证了模型的准确性。
关键词：柔性机械臂；TS模糊模型；减法聚类分析；最小二乘法
中图分类号：TP241文献标识码：A文章编号：1001-4551(2006)11-0036-03

Identification and analysis of flexible manipulators TS model
ZHANG Xuelian1, PAN Tieqiang1, TANG Kehong2, MA Xiaoli1
(1.Westzhe School, Zhejiang University of Technology, Quzhou 324006, China；
2.College of Mechanical Science and Engineering, Jilin University, Changchun 130025, China)
Abstract: Due to the characteristic such as strong nonlinear, strong coupling, uncertainty, etc of flexible manipulator, the characteristic of TakagiSugeno fuzzy model, modeling to the flexible manipulator was carried on. Compared and analysed the simulation result of the model and experimental result, have proved the accuracy of the model.
Key words: flexible manipulator; TS fuzzy model; subtractive clustering analysis; least square method

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