介紹了新型氣動(dòng)柔性球關(guān)節(jié)，討論研究其控制方法。綜合模糊控制和PID 控制的特點(diǎn)，設(shè)計(jì)針對(duì)氣動(dòng)柔性球關(guān)節(jié)的模糊PID 控制器，實(shí)現(xiàn)對(duì)球關(guān)節(jié)彎曲角度、偏轉(zhuǎn)方向等系統(tǒng)參數(shù)的動(dòng)態(tài)控制。實(shí)驗(yàn)結(jié)果表明模糊PID 控制可以實(shí)時(shí)準(zhǔn)確地對(duì)氣動(dòng)柔性球關(guān)節(jié)進(jìn)行控制。設(shè)計(jì)的控制系統(tǒng)可以作為氣動(dòng)柔性球關(guān)節(jié)的有效控制系統(tǒng)，用于進(jìn)行相關(guān)研究。

The flexible pneumatic spherical joint was introduced. Adopting merits of Fuzzy control and PID control, a Fuzzy-PID controller was designed to control the flexible pneumatic spherical joint, which controls the dynamic parameters bending angle and deflexion direction.
Experimental results show that the Fuzzy-PID controller can control the flexible pneumatic spherical joint exactly in real-time. So the designed control system can be used as the efficient control system for the flexible pneumatic spherical joint and related researches.