机械制造与自动化2013，Vol.42Issue(4)：160-163,4.
生物声纳探测机器人机械手关节控制设计
Design of Manipulator Joints Control for Biosonar Robot
王茂森 1伍亚冰 1张兰兰1
作者信息
- 1. 南京理工大学机械工程学院,江苏南京210094
- 折叠
摘要
Abstract
The biosonar detector needs the flexible motion control to collect the target's discrete distribution characteristic in threedimensional space in the process of target perception and identification.In view of biosonar's motion demand for natural detection and characteristics of all-terrain robot's complex walking control,the space motion scan of biosonar detector is achieved by making use of manipulator control.This paper briefly describes the method of biosonar detection,manipulator linkage coordinate system and scheme of control system structure.puts forward the design of all-terrain robot manipulator joint control system based on STM32F103 microcontroller and introduces the fuzzy PI position servo control strategy in order to acheive the accurate real time control of all-terrain robot joint.The feasibility of the fuzzy PI position servo control system is proved in the simulation results.关键词
生物声纳/全地形机器人/机械手关节控制/位置伺服控制系统Key words
biosonar/ all-terrain robot/ manipulator joint control/ position servo control system分类
机械制造引用本文复制引用
王茂森,伍亚冰,张兰兰..生物声纳探测机器人机械手关节控制设计[J].机械制造与自动化,2013,42(4):160-163,4.
