中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 空间自动化技术研究室  > 期刊论文
题名: Dual-layer fuzzy control architecture for the CAS rover arm
作者: 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
刊名: International Journal of Control, Automation and Systems
ISSN号: 1598-6446
出版日期: 2015
卷号: 13, 期号:5, 页码:1262-1271
收录类别: SCI ; EI
产权排序: 1
项目资助者: 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记录号: WOS:000361756300023
WOS标题词: Science & Technology ; Technology
类目[WOS]: Automation & Control Systems
关键词[WOS]: ROBOTIC MANIPULATORS ; FORCE CONTROL ; UNCERTAINTIES ; EXPLORATION ; KINEMATICS
研究领域[WOS]: Automation & Control Systems
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/16186
Appears in Collections:空间自动化技术研究室_期刊论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
Dual-layer fuzzy control architecture for the CAS rover arm.pdf(1296KB)期刊论文出版稿开放获取View Download
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[Gao HW(高宏伟)]'s Articles
[Liu JG(刘金国)]'s Articles
[Li YM(李杨民)]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[Gao HW(高宏伟)]‘s Articles
[Liu JG(刘金国)]‘s Articles
[Li YM(李杨民)]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
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
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2016  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace