在近几十年里,基于模糊逻辑开发的模糊系统已经成为非常活跃的领域,一些算法已在复杂系统的控制器设计中显示出相当的能力,而且模糊数学理论也对构造知识模型提供了极其优越的工具。
由于神经网络具有良好的自学习、自适应、联想等智能,能适应系统复杂多变的动态特性。模糊控制和神经网络的结合成为学者研究的重点。这方面的研究最早起源于欧美国家,但在80年代末期却在日本取得了相对大的发展。目前,在知识和信息处理领域,他独立于模糊逻辑和神经网络技术,已经达到了一个特有的研究阶段。模糊和神经网络技术的融合客服了神经网络和模糊逻辑在知识处理方面的缺点,具有进行数据监督学习、处理经验知识及基于语言表达的在线学习等功能。利用神经网络非线性映射、自学习能力来调整模糊控制。使模糊控制具有一定的自适应能力,同时也使神经网络获得了模糊控制的推理归纳能力。本文对模糊神经网络在机器人控制中的应用进行研究,提出了一种模糊神经网络的机器人轨迹跟踪控制。仿真结果表明,该控制方法能很好地对机器人轨迹进行跟踪。
本系统中,立体定位系统作为主要数据输入通道,用于精确获取目标位置与机器人之间精确的相对位置。随后将这些现场实时空间信息融入先前建立的空间模型。期间需要确定前模型与实际的三维空间变换关系,即配准。
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