SIA OpenIR  > 空间自动化技术研究室
Dual-layer fuzzy control architecture for the CAS rover arm
Gao HW(高宏伟); Liu JG(刘金国); Li YM(李杨民); Hong, Kun; Zhang Y(张阳)
作者部门空间自动化技术研究室
关键词Cas Rover Arm Force Control Fuzzy Impedance Fuzzy Pd
发表期刊International Journal of Control, Automation and Systems
ISSN1598-6446
2015
卷号13期号:5页码:1262-1271
收录类别SCI ; EI
EI收录号20152300902595
WOS记录号WOS:000361756300023
产权排序1
资助机构National Science Foundationof China (51175494, 61128008), China Postdoctoral ScienceFoundation Funded Project (Grant No.2013M530954), theState Key Laboratory of Robotics Foundation (GrantNo.O8A120S, 2012017), Program for Liaoning Excellent Talentsin University (Grant No.LJQ2014021), Liaoning Province NaturalScience Fund Project(Grant No.2014020093), and Shenyang LigongUniversity Computer Application Key Discipline Foundation(Grant No.47710 04kfx09), Macao Science and TechnologyDevelopment Fund (108/ 2012/A3, 110/2013/A3), ResearchCommittee of University of Macau (MYRG203(Y1-L4)-FST11-LYM, MYRG183(Y1-L3)FST 11-LYM).
摘要Since the conventional impedance control method for a rover arm is not suitable for unconstructed environment with uncertainties, a fuzzy inference method which improves the impedance model dynamically is introduced to realize high-precision control. The fuzzy PD control algorithm which applies to the joint control of a rover arm is analyzed in this paper. With the two level control algorithms, a novel dual-layer fuzzy control framework is proposed, which can enhance the control performance significantly. In order to verify the validity and reliability of the designed algorithms, the robotic arm of the CAS rover is considered as an experimental platform. Kinematics and dynamics models of robotic arm are derived at first. Moreover, the fuzzy inference mechanism and implementation process of impedance model parameters are illustrated. Extensive simulations and experimental results show that the control accuracy and the force control of the system have been significantly improved with the proposed dual-layer fuzzy control architecture.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Automation & Control Systems
关键词[WOS]ROBOTIC MANIPULATORS ; FORCE CONTROL ; UNCERTAINTIES ; EXPLORATION ; KINEMATICS
WOS研究方向Automation & Control Systems
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/16186
专题空间自动化技术研究室
通讯作者Liu JG(刘金国); Li YM(李杨民)
作者单位1.School of Information Science & Engineering, Shenyang Ligong University, Shenyang, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
4.Department of Electromechanical Engineering, University of Macau, Avenida da Universidade, Taipa, Macao, China
推荐引用方式
GB/T 7714
Gao HW,Liu JG,Li YM,et al. Dual-layer fuzzy control architecture for the CAS rover arm[J]. International Journal of Control, Automation and Systems,2015,13(5):1262-1271.
APA Gao HW,Liu JG,Li YM,Hong, Kun,&Zhang Y.(2015).Dual-layer fuzzy control architecture for the CAS rover arm.International Journal of Control, Automation and Systems,13(5),1262-1271.
MLA Gao HW,et al."Dual-layer fuzzy control architecture for the CAS rover arm".International Journal of Control, Automation and Systems 13.5(2015):1262-1271.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
Dual-layer fuzzy con(1296KB)期刊论文出版稿开放获取ODC PDDL浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Gao HW(高宏伟)]的文章
[Liu JG(刘金国)]的文章
[Li YM(李杨民)]的文章
百度学术
百度学术中相似的文章
[Gao HW(高宏伟)]的文章
[Liu JG(刘金国)]的文章
[Li YM(李杨民)]的文章
必应学术
必应学术中相似的文章
[Gao HW(高宏伟)]的文章
[Liu JG(刘金国)]的文章
[Li YM(李杨民)]的文章
相关权益政策
暂无数据
收藏/分享
文件名: Dual-layer fuzzy control architecture for the CAS rover arm.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

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。