Jingfu Wang, Songtao Zhang, Lihua Liang, and  Hongyu Shi. Active Compensation Analysis Method of Inverse Kinematics of Hydraulic Transmission Through Passage Based on Fuzzy Algorithm. Dynamic Systems and Applications 29 (2020) No. 4, 1565 – 1579

https://doi.org/10.46719/dsa202029441

ABSTRACT.
Based on fuzzy algorithm, this paper presents an active compensation analysis method of inverse kinematics of hydraulic transmission through passage. The algorithm takes wrist point vector as the target, calculates the inverse solution of the position joint of redundant hydraulic transmission through the tunnel and the error compensation of the position joint to the wrist joint, and obtains the inverse kinematics solution of the wrist joint. The self-correcting fuzzy algorithm of control rules with correction factor based on optimization method can overcome the defect of determining control rules only by experience, and avoid the gap phenomenon in the definition of control rules. According to the actual tolerance requirements, find out the key deformation areas beyond the tolerance range, and correct the cutting depth to realize the local compensation of errors. Through the introduction of the improved BP network algorithm, the membership function and fuzzy control rules of the hydraulic transmission passage are optimized.

Key words: Fuzzy algorithm; Hydraulic transmission; Through road; Active compensation