Fuzzy Gravity Compensation forWall-climbing Microrobots
A fuzzy control system with gravity compensation is presented to improve the performance of the wallclimbing 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 de.nition 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.
Fuzzy control Wall-climbing robot Motion control Gravity compensation
Jun Xiao Xing Song Bin Qin Hongguang Wang
College of Information Science and Engineering, Northeastern University, Shenyang, China 110004 College of Information Science and Engineering, Northeastern University, Shenyang, China 110004 Stat State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, She
国际会议
The 22nd China Control and Decision Conference(2010年中国控制与决策会议)
徐州
英文
4435-4440
2010-05-26（万方平台首次上网日期，不代表论文的发表时间）