六自由度并联平台特性分析及其电液位置伺服系统的CMAC神经网络控制
1.上海交通大学仪器工程系,上海 200030
2.上海国际机场股份有限公司,上海 201202
3.哈尔滨工业大学机电学院,哈尔滨 150001
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摘要
以六自由度运动平台为研究对象,分析了平台的运动学和动力学问题,采用了CMAC神经网络作为控制器,实现运动轨迹的跟踪。仿真表明所作的运动学、动力学分析是正确的,控制器具有较强的抗负载干扰能力和良好的鲁棒性。
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