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| 模糊控制器在“穿地龙”机器人控制中的应用 | |
| 引用本文： | 王殿君,刘淑晶,赵化启,王茁,孟庆鑫.模糊控制器在“穿地龙”机器人控制中的应用[J].传感器与微系统,2004,23(6):66-69,72. |
| 作者姓名： | 王殿君 刘淑晶 赵化启 王茁 孟庆鑫 |
| 作者单位： | 1. 北京石油化工学院,机械工程学院,北京102600 2. 东北轻合金有限责任公司,黑龙江,哈尔滨,150060 3. 佳木斯大学,公共计算机教研部,黑龙江,佳木斯,154007 4. 哈尔滨工程大学,机电学院,黑龙江,哈尔滨,150001 |
| 摘 要： | "穿地龙"机器人在地下穿孔作业过程中会受到诸多因素的影响,是一个非线性的复杂系统。采用参数自调整模糊控制算法设计了位置模糊控制器,实现了机器人按目标轨迹运动等功能,保证了机器人具有良好的姿态调节能力。轨迹测试结果表明:设计的控制器具有良好的鲁棒性,可以保证机器人在土中按照预定的轨迹行走,完成穿孔作业任务。 |
| 关 键 词： | 穿地龙"机器人 自调整 模糊控制器 量化因子 比例因子 |
| 文章编号： | 1000-9787(2004)06-0066-04 |
Application of fuzzy controller in "dragon of puncturing mud" robot control system |
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| WANG Dian-jun,LIU Shu-jing,ZHAO Hua-qi,WANG Zhuo,MENG Qing-xin.Application of fuzzy controller in "dragon of puncturing mud" robot control system[J].Transducer and Microsystem Technology,2004,23(6):66-69,72. | |
| Authors: | WANG Dian-jun LIU Shu-jing ZHAO Hua-qi WANG Zhuo MENG Qing-xin |
| Affiliation: | WANG Dian-jun~1,LIU Shu-jing~2,ZHAO Hua-qi~3,WANG Zhuo~1,MENG Qing-xin~4 |
| Abstract: | The "dragon of puncturing mud" robot is a nonlinear complicated system ,and may be influenced by many factors during the process of paving pipes in the mud. A position fuzzy controller based on the parameter self-adjusting fuzzy control strategy is designed,to ensure the robot to move according to the target trace and assure the robot's good pose regulating ability.The results of the trace test have proved that this controller possesses good robustness,it can meet the demands that the robot moves according to the target trace in mud,and can fulfil the punching task excellently. |
| Keywords: | dragon of puncturing mud" robot self-adjusting fuzzy controller quantitative factor scaling (factor) |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |