系统仿真学报 ›› 2018, Vol. 30 ›› Issue (3): 809-823.doi: 10.16182/j.issn1004731x.joss.201803006
谢胜龙, 刘海涛, 梅江平
收稿日期:
2016-04-13
出版日期:
2018-03-08
发布日期:
2019-01-02
通讯作者:
刘海涛,男,黑龙江牡丹江,博士,副教授,洪堡学者,研究方向为机构学与机器人学。
作者简介:
谢胜龙(1988-),男,皖安庆,博士生,研究方向为机器人控制及其自动化生产线
基金资助:
Xie Shenglong, Liu Haitao, Mei Jiangping
Received:
2016-04-13
Online:
2018-03-08
Published:
2019-01-02
摘要: 针对气动人工肌肉中存在的迟滞及蠕变现象,回顾了其研究历史并总结了国内外主要研究机构的研究现状。从气动人工肌肉迟滞及蠕变现象的特点、产生原因、建模以及基于迟滞模型的控制策略等方面,对现有的研究进展与成果进行了综述。分析了目前气动人工肌肉中存在的问题并提出了进一步研究的思路。从目前的发展趋势来看,气动人工肌肉迟滞与蠕变的理论研究还远不充分。迟滞特性建模需要解决因蠕变引起的参数动态变化问题,神经网络建模需解决多环辨识问题,而基于逆模型补偿的控制策略则需要解决模型复杂以及参数敏感问题。
中图分类号:
谢胜龙, 刘海涛, 梅江平. 气动人工肌肉迟滞-蠕变特性研究现状与进展[J]. 系统仿真学报, 2018, 30(3): 809-823.
Xie Shenglong, Liu Haitao, Mei Jiangping. Achievements and Developments of Hysteresis and Creep of Pneumatic Artificial Muscles[J]. Journal of System Simulation, 2018, 30(3): 809-823.
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