| 基于FNN的覆冰机器人越障机械臂轨迹跟踪控制 |
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| 引用本文： | 郝晓弘,刘晓鹏,岳和平,张帆. 基于FNN的覆冰机器人越障机械臂轨迹跟踪控制[J]. 计算机工程与应用, 2010, 46(8): 232-233. DOI: 10.3778/j.issn.1002-8331.2010.08.067 |
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| 作者姓名： | 郝晓弘 刘晓鹏 岳和平 张帆 |
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| 作者单位： | 1. 兰州理工大学,电气工程与信息工程学院,兰州,730050
2. 甘肃省电力科学研究院,兰州,730050 |
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| 基金项目： | 甘肃省科技攻关项目Grant No.GS044-A52-001-24;;甘肃省自然科学基金Grant No.3ZS042-B25-012~~ |
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| 摘 要： | 覆冰机器人除冰时要跨越各种障碍物。采用卡尔曼滤波学习算法，将自适应模糊神经网络控制器用于覆冰机器人越障时的机械臂轨迹跟踪控制，解决了BP算法实时性差的问题。经过仿真实验论证，该方法对覆冰机器人越障时的机械臂轨迹跟踪控制具有很好的效果，表明控制策略和理论分析的可行性。
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| 关 键 词： | 输电线路 覆冰机器人 模糊神经网络 自适应性 |
| 收稿时间： | 2008-09-18 |
| 修稿时间： | 2009-1-14 |
Tracking control of robot's trajectory based on FNN |
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| HAO Xiao-hong,LIU Xiao-peng,YUE He-ping,ZHANG Fan. Tracking control of robot's trajectory based on FNN[J]. Computer Engineering and Applications, 2010, 46(8): 232-233. DOI: 10.3778/j.issn.1002-8331.2010.08.067 |
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| Authors: | HAO Xiao-hong LIU Xiao-peng YUE He-ping ZHANG Fan |
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| Affiliation: | HAO Xiao-hong1,LIU Xiao-peng1,YUE He-ping2,ZHANG Fan11.College of Electrical , Information Engineering,Lanzhou University of Technology,Lanzhou 730050,China 2.Gansu Electric Power Research Institute,China |
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| Abstract: | When de-icing robot performs the de-icing task,it must across all kinds of obstacles.In this paper,using Kalman filter arithmetic,the Fuzzy Neural Network(FNN) controller is used for de-icing robot's manipulator tracking controller when it crosses obstacles,solves the problem of BP algorithm.By simulation,the control method can achieve a better function for robot arm tracking control when de-icing robot crosses obstacles.Results show the verification of the control strategy and the feasibility of the theore... |
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| Keywords: | power transmission line de-icing robot Fuzzy Neural Network(FNN) adaptive merits |
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