Intelligent Excavator Control System for Lunar Mining System

	Intelligent Excavator Control System for Lunar Mining System
	Paul J. A. Lever; Fei-Yue Wang
刊名	Journal of Aerospace Engineering
	1995
卷号	8 期号:1 页码:16-24
关键词	Lunar Mining System Intelligent Excavator Control System
英文摘要	A major benefit of utilizing local planetary resources is that it reduces the need and cost of lifting materials from the Earth's surface into Earth orbit. The location of the moon makes it an ideal site for harvesting the materials needed to assist space activities. Here, lunar excavation will take place in the dynamic unstructured lunar environment, in which conditions are highly variable and unpredictable. Autonomous mining (excavation) machines are necessary to remove human operators from this hazardous environment. This machine must use a control system structure that can identify, plan, sense, and control real-time dynamic machine movements in the lunar environment. The solution is a vision-based hierarchical control structure. However, excavation tasks require force/torque sensor feedback to control the excavation tool after it has penetrated the surface. A fuzzy logic controller (FLC) is used to interpret the forces and torques gathered from a bucket mounted force/torque sensor during excavation. Experimental results from several excavation tests using the FLC are presented here. These results represent the first step toward an integrated sensing and control system for a lunar mining system.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/14898]
专题	自动化研究所_09年以前成果
推荐引用方式 GB/T 7714	Paul J. A. Lever,Fei-Yue Wang. Intelligent Excavator Control System for Lunar Mining System[J]. Journal of Aerospace Engineering,1995,8(1):16-24.
APA	Paul J. A. Lever,&Fei-Yue Wang.(1995).Intelligent Excavator Control System for Lunar Mining System.Journal of Aerospace Engineering,8(1),16-24.
MLA	Paul J. A. Lever,et al."Intelligent Excavator Control System for Lunar Mining System".Journal of Aerospace Engineering 8.1(1995):16-24.