| 基于模糊逻辑的浆液下搅拌机器人路径跟踪研究 |
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| 引用本文： | 谢新伟,郝静如.基于模糊逻辑的浆液下搅拌机器人路径跟踪研究[J].机械设计与研究,2005,21(4):27-29. |
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| 作者姓名： | 谢新伟 郝静如 |
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| 作者单位： | 北京机械工业学院,机械工程系,北京,100085 |
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| 摘 要： | 首先建立了浆液下搅拌机器人车体的运动学模型，然后分析了传统的控制方法无法对其进行精确路径跟踪的原因，设计了用于机器人路径跟踪的模糊控制器，最后经过被控对象的分析与实验，验证了模糊控制器具有使用方便、精度高和稳定性好等优点。
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| 关 键 词： | 液下搅拌机器人 模糊控制 路径跟踪 |
| 文章编号： | 1006-2343(2005)04-027-03 |
| 收稿时间： | 2004-09-17 |
| 修稿时间： | 2004年9月17日 |
Research on the Path Track of the Pug-mill Robot Working Under Water-coal Slurry Based on Fuzzy Logic Method |
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| XIE Xin-wei,HAO Jing-ru.Research on the Path Track of the Pug-mill Robot Working Under Water-coal Slurry Based on Fuzzy Logic Method[J].Machine Design and Research,2005,21(4):27-29. |
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| Authors: | XIE Xin-wei HAO Jing-ru |
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| Abstract: | Firstly, the kinematics model of pug mill robot is built up, which may be used in the anti-sediment of the water-coal slurry. Secondly, since the traditional control method is unable to trace the precise path of the robot a fuzzy logic controller is designed. Finally, The result of simulation and experiments show that the fuzzy logic has the advantageds such as convenience of use, high precision and stability and so on. |
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| Keywords: | the roboticized pug-mill fuzzy control path following |
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