Study the micro chaotic phenomena and its control of rigid-flexible robot

被引：0
作者：
Kunming Zheng
Haiwei Chen
Qiuju Zhang
Shuisheng Zeng
机构：
[1] Jiangnan University,School of Mechanical Engineering
[2] Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology,undefined
[3] Changzhou Gucoi Intelligent Equipment Technology Research Institute Co.,undefined
[4] Ltd.,undefined
来源：
Journal of Mechanical Science and Technology | 2022年 / 36卷
关键词：
Rigid-flexible robot; Micro chaotic phenomena; Intelligent control; Accuracy and the stability;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
For rigid-flexible robots, the previous studies have revealed that the chaotic phenomena is inevitably caused by the uncertainty component flexibility and the joint clearance, which reduces position accuracy and operating stability. To solve the chaotic problem, the micro chaotic phenomena of rigid-flexible robot is effectively identified in this study, and the so called micro chaotic phenomena is the description of the uncertainty of position accuracy. From the new perspective of micro chaos to develop an intelligent control strategy, and the intelligent control method composed by the fuzzy neural network control and the PD delayed feedback control is proposed. Finally, its effectiveness is verified, and the accuracy and the stability of rigid-flexible robot while suppressing the micro chaotic phenomena is improved.
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页码：2597 / 2609
页数：12
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