作者：李进英
单位：北京信息科技大学自动化学院，北京 100192
中图分类号：TP13        
文献标识码：A        
文章编号：1006-883X(2018)11-0007-05
收稿日期：2018-10-15

摘要：为了探索实现双关节机械手高精度轨迹跟踪的方法，采用理论与实践相结合的方法，将鲁棒控制与模糊控制理论、RBF神经网络结合起来，提出基于模糊神经网络的鲁棒控制方法，并应用于双关节机械手轨迹跟踪控制中。仿真结果表明，基于模糊神经网络的鲁棒控制方法能够大大提高双关节机械手轨迹跟踪性能，具有一定的实践应用价值。
关键词：双关节机械手；鲁棒控制；模糊神经网络；轨迹跟踪

Research on Tracking Control Method of Double Joint Manipulator
LI Jin-ying
School of Automation, Beijing Information Science & Technology University, Beijing 100192, China
Abstract: In order to explore the method for high-precision trajectory tracking of dual-joint manipulators, combined robust control with fuzzy control theory and RBF neural network, a robust control method is proposed based on fuzzy neural network, and applied to trajectory tracking control of dual-joint manipulators. The simulation results show that the robust control method based on fuzzy neural network can improve the trajectory tracking performance of dual joint manipulators greatly, and has certain practical application value.
Key words: double joint manipulator; robust control; fuzzy neural network; trajectory tracking

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备注：2018年 第24卷 第11期