Fuzzy gravity compensation for wall-climbing microrobots
文献类型：会议论文
| 作者 | Xiao J(肖军); Song X(宋欣); Qin, Bin; Wang HG(王洪光)
|
| 出版日期 | 2010 |
| 会议名称 | 2010 Chinese Control and Decision Conference, CCDC 2010 |
| 会议日期 | May 26-28, 2010 |
| 会议地点 | Xuzhou, China |
| 关键词 | Fuzzy control Wall-climbing robot Motion control Gravity compensation |
| 页码 | 4435-4440 |
| 通讯作者 | 肖军 |
| 中文摘要 | A fuzzy control system with gravity compensation is presented to improve the performance of the wall-climbing microrobots. After introduction of the robot system, robot motion modes are described. And kinematic models and dynamic models are introduced. Then a fuzzy motion controller is designed to improve control performance and reduce power consumption by the suitable selection of fuzzy sets and inference methods, as well as the definition of corresponding membership functions and control rule bases. A fuzzy logic compensator is developed to compensate the gravitational effects according to different robot configurations and task situations. Experimental results prove the validity of the proposed methods. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 2 |
| 会议主办者 | IEEE Control Systems Society (CSS); IEEE Industrial Electronics Society (IES); Automatic Control Society of Chinese Association of Aeronautics; Simul. Methods Model. Soc. Chin. Assoc. Syst. Simul.; Intelligent Control Manage. Soc., Chin. Assoc. Artif. Intell. |
| 会议录 | 2010 Chinese Control and Decision Conference, CCDC 2010
 |
| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-5182-1 |
| WOS记录号 | WOS:000290460302171 |
| 源URL | [http://ir.sia.cn/handle/173321/20049]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Xiao J,Song X,Qin, Bin,et al. Fuzzy gravity compensation for wall-climbing microrobots[C]. 见:2010 Chinese Control and Decision Conference, CCDC 2010. Xuzhou, China. May 26-28, 2010. |
入库方式： OAI收割
来源：沈阳自动化研究所
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