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Fuzzy Theory Based Control Method for an In-pipe Robot to Move in Variable Resistance Environment
Li T(李特); Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Wang YC(王越超)
Department机器人学研究室
Source PublicationCHINESE JOURNAL OF MECHANICAL ENGINEERING
ISSN1000-9345
2015
Volume28Issue:6Pages:1213-1221
Indexed BySCI ; EI ; CSCD
EI Accession number20155101700217
WOS IDWOS:000364728500016
CSCD IDCSCD:5564241
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China [61273345]
KeywordScrew Drive In-pipe Robot Fuzzy Control Torque Control
AbstractMost of the existing screw drive in-pipe robots cannot actively adjust the maximum traction capacity, which limits the adaptability to the wide range of variable environment resistance, especially in curved pipes. In order to solve this problem, a screw drive in-pipe robot based on adaptive linkage mechanism is proposed. The differential property of the adaptive linkage mechanism allows the robot to move without motion interference in the straight and varied curved pipes by adjusting inclining angles of rollers self-adaptively. The maximum traction capacity of the robot can be changed by actively adjusting the inclining angles of rollers. In order to improve the adaptability to the variable resistance, a torque control method based on the fuzzy controller is proposed. For the variable environment resistance, the proposed control method can not only ensure enough traction force, but also limit the output torque in a feasible region. In the simulations, the robot with the proposed control method is compared to the robot with fixed inclining angles of rollers. The results show that the combination of the torque control method and the proposed robot achieves the better adaptability to the variable resistance in the straight and curved pipes.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectEngineering, Mechanical
WOS KeywordMECHANISM
WOS Research AreaEngineering
Citation statistics
Cited Times:2[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/17312
Collection机器人学研究室
Corresponding AuthorWang MH(王明辉)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
3.Department of Robotics, Ritsumeikan University, Shiga-Ken, Japan
Recommended Citation
GB/T 7714
Li T,Ma SG,Li B,et al. Fuzzy Theory Based Control Method for an In-pipe Robot to Move in Variable Resistance Environment[J]. CHINESE JOURNAL OF MECHANICAL ENGINEERING,2015,28(6):1213-1221.
APA Li T,Ma SG,Li B,Wang MH,&Wang YC.(2015).Fuzzy Theory Based Control Method for an In-pipe Robot to Move in Variable Resistance Environment.CHINESE JOURNAL OF MECHANICAL ENGINEERING,28(6),1213-1221.
MLA Li T,et al."Fuzzy Theory Based Control Method for an In-pipe Robot to Move in Variable Resistance Environment".CHINESE JOURNAL OF MECHANICAL ENGINEERING 28.6(2015):1213-1221.
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