| 基于多传感器信息融合的液压机械手控制模型研究 |
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| 引用本文： | 张琦,金美华,傅星淇.基于多传感器信息融合的液压机械手控制模型研究[J].机床与液压,2005(3):144-146. |
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| 作者姓名： | 张琦 金美华 傅星淇 |
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| 作者单位： | 解放军理工大学工程兵工程学院,江苏南京,210007 |
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| 摘 要： | 本文在机械手力／位置混合控制的基础上，结合多传感器融合技术，提出基于多传感器信息融合的机械手控制模型，并将其应用于特种液压施工机械手中，实现了机械手混合控制中力和位置反馈的决策融合，提高了反馈参数的精度和机械手控制系统的跟踪能力与可靠性。
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| 关 键 词： | 多传感器 信息融合 混合控制 液压 机械手 |
| 文章编号： | 1001-3881(2005)3-144-3 |
| 修稿时间： | 2003年12月29 |
Research on Hydraulic Manipulator Control Model Based on Multi-sensor Information Fusion |
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| ZHANG Qi,JIN Mei-hua,FU Xing-qi.Research on Hydraulic Manipulator Control Model Based on Multi-sensor Information Fusion[J].Machine Tool & Hydraulics,2005(3):144-146. |
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| Authors: | ZHANG Qi JIN Mei-hua FU Xing-qi |
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| Abstract: | By using multi-sensor fusion technology based on mix controlling of force/position,manipulator control model based on multi-sensor information fusion was proposed,it was applied to special hydraulic construction mechanical manipulator and the decision-fusion of force and position in mix controlling of manipulator was achieved.It enhances the precision of feedback parameters and improves tracking capacity and reliability in the system of manipulator control. |
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| Keywords: | Multi-sensor Information/data fusion Mix controlling Hydraulics Manipulator |
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