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基于模糊推理水下作业系统运动控制研究
Alternative TitleStudy on kinematics control based on fuzzy inference for underwater work system
李延富; 张奇峰; 封锡盛
Department水下机器人研究室
Source Publication微计算机信息
ISSN1008-0570
2009
Issue25Pages:12-14
Indexed ByCSCD
CSCD IDCSCD:3729544
Contribution Rank1
Funding Organization基金申请人:张奇峰;项目名称:自治水下机器人-机械手系统协调控制关键技术研究;基金颁发部门:国家863计划(2006AA09Z217)
Keyword水下作业系统 任务优先冗余逆解 模糊推理 水下机器人
Abstract水下作业系统是运动学冗余系统,本文将模糊推理方法融入基于任务优先运动学控制算法,对系统载体与机械手进行协调运动分配,同时对系统多个任务进行优化。通过带有3自由度水下机械手的水下作业系统进行算例仿真研究,说明运动控制算法的有效性。
Other AbstractThe underwater work system (UWS) is a redundant system. This paper use the task-priority redundancy method merged with a fuzzy logic based weighting scheme to solve vehicle-manipulator coordination. This algorithm is in charge of distributing motion between vehicle and manipulator while taking into account the big amount of constraints of UWS. The method was applied to UWS mounded with a three-degree-of-freedom underwater-manipulator. The computer simulation results demonstrate the resolution s effectivenes...
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/3464
Collection水下机器人研究室
Corresponding Author李延富
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院研究生院
Recommended Citation
GB/T 7714
李延富,张奇峰,封锡盛. 基于模糊推理水下作业系统运动控制研究[J]. 微计算机信息,2009(25):12-14.
APA 李延富,张奇峰,&封锡盛.(2009).基于模糊推理水下作业系统运动控制研究.微计算机信息(25),12-14.
MLA 李延富,et al."基于模糊推理水下作业系统运动控制研究".微计算机信息 .25(2009):12-14.
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