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RESEARCH ON ATTITUDE FUZZY CONTROLOF WALL-CLIMBING ROBOT ON WATER-COOLING TUBE
Author(s): 
Pages: 545-549
Year: Issue:  6
Journal: ROBOT

Keyword:  模糊控制爬壁机器人传感系统;
Abstract: 本文针对锅炉排管爬壁机器人在现场工作和运行中出现的爬行不可靠现象,利用位移传感器建立机器人的姿态传感系统,提出模糊辨识的方法将位移信号变换成机器人的姿态角度,并由此确定机器人作业与运行的模糊控制策略,仿真验证了该方法能够提高作业效果,保证运行的安全、可靠,并能保证一定的速度.
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