Intelligent Excavator Control System for Lunar Mining System
文献类型：期刊论文
| 作者 | Paul J. A. Lever; Fei-Yue Wang
|
| 刊名 | Journal of Aerospace Engineering
 |
| 出版日期 | 1995 |
| 卷号 | 8期号:1页码:16-24 |
| 关键词 | Lunar Mining System Intelligent Excavator Control System |
| 英文摘要 | A major benefit of utilizing local planetary resources is that it reduces the need and cost of lifting materials from the Earth's surface into Earth orbit. The location of the moon makes it an ideal site for harvesting the materials needed to assist space activities. Here, lunar excavation will take place in the dynamic unstructured lunar environment, in which conditions are highly variable and unpredictable. Autonomous mining (excavation) machines are necessary to remove human operators from this hazardous environment. This machine must use a control system structure that can identify, plan, sense, and control real-time dynamic machine movements in the lunar environment. The solution is a vision-based hierarchical control structure. However, excavation tasks require force/torque sensor feedback to control the excavation tool after it has penetrated the surface. A fuzzy logic controller (FLC) is used to interpret the forces and torques gathered from a bucket mounted force/torque sensor during excavation. Experimental results from several excavation tests using the FLC are presented here. These results represent the first step toward an integrated sensing and control system for a lunar mining system. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/14898]  |
| 专题 | 自动化研究所_09年以前成果 |
| 推荐引用方式 GB/T 7714 | Paul J. A. Lever,Fei-Yue Wang. Intelligent Excavator Control System for Lunar Mining System[J]. Journal of Aerospace Engineering,1995,8(1):16-24. |
| APA | Paul J. A. Lever,&Fei-Yue Wang.(1995).Intelligent Excavator Control System for Lunar Mining System.Journal of Aerospace Engineering,8(1),16-24. |
| MLA | Paul J. A. Lever,et al."Intelligent Excavator Control System for Lunar Mining System".Journal of Aerospace Engineering 8.1(1995):16-24. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。