Position control of robot arms using intelligent variable structure system

摘要

The basic equations of a variable structure controller are given. From them it is found that the output of the controller is related to the extent of the system parameters. An intelligent variable structure controller is designed, and several groups of characteristic parameters are determined by means of CAD technology of the control system and stored in a computer. A knowledge-based system (KBS) is built up and provides the position control system of robot arms with the ability of reasoning, judging and learning in order to cope with unexpected situations and changing cases. The authors point out that the KBS can interact and work harmoniously with the variable structure controller to maintain the system integrity, and also describe an architecture for a real-time intelligent variable structure position controller consisting of a low-level microprocessor and a KBS. The experimental results show that this approach overcomes some of the weaknesses in a conventional controller and makes the system more robust.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>