基于模糊迭代Q-学习的冶金工业机器人轨迹跟踪控制研究

张卉,朱永飞,刘雪飞,徐向荣

Research on trajectory tracking control of metallurgical industrial robot based on fuzzy iterative Q-learning

Hui ZHANG,Yong-fei ZHU,Xue-fei LIU,Xiang-rong XU

表2 左机械臂的动力学参数

Table 2 Dynamic parameters of left mechanical arm

关节 质量/kg 质心坐标/10-3m 转动惯量/(kg·m2) Ixx Iyy Izz 1 59.3 (0.496, -10.5, -61.44) 7.00 5.60 1.910 2 4.18 (0.496, 527, 233) 0.046 0.041 0.030 3 3.29 (0.496, 700, 233) 0.039 0.033 0.025 4 7.67 (0.496, 920, 233) 0.065 0.063 0.035 5 3.29 (0.496, 1 140 233) 0.039 0.033 0.025 6 7.67 (0.496, 1 340, 233) 0.065 0.063 0.035