Fuzzy gravity compensation for wall-climbing microrobots

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Fuzzy gravity compensation for wall-climbing microrobots
	Xiao J(肖军); Song X(宋欣); Qin, Bin; Wang HG(王洪光)
	2010
会议名称	2010 Chinese Control and Decision Conference, CCDC 2010
会议日期	May 26-28, 2010
会议地点	Xuzhou, China
关键词	Fuzzy control Wall-climbing robot Motion control Gravity compensation
页码	4435-4440
通讯作者	肖军
中文摘要	A fuzzy control system with gravity compensation is presented to improve the performance of the wall-climbing microrobots. After introduction of the robot system, robot motion modes are described. And kinematic models and dynamic models are introduced. Then a fuzzy motion controller is designed to improve control performance and reduce power consumption by the suitable selection of fuzzy sets and inference methods, as well as the definition of corresponding membership functions and control rule bases. A fuzzy logic compensator is developed to compensate the gravitational effects according to different robot configurations and task situations. Experimental results prove the validity of the proposed methods.
收录类别	EI ; CPCI（ISTP）
产权排序	2
会议主办者	IEEE Control Systems Society (CSS); IEEE Industrial Electronics Society (IES); Automatic Control Society of Chinese Association of Aeronautics; Simul. Methods Model. Soc. Chin. Assoc. Syst. Simul.; Intelligent Control Manage. Soc., Chin. Assoc. Artif. Intell.
会议录	2010 Chinese Control and Decision Conference, CCDC 2010
会议录出版者	IEEE Computer Society
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-1-4244-5182-1
WOS记录号	WOS:000290460302171
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/20049]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Xiao J,Song X,Qin, Bin,et al. Fuzzy gravity compensation for wall-climbing microrobots[C]. 见:2010 Chinese Control and Decision Conference, CCDC 2010. Xuzhou, China. May 26-28, 2010.