【挖掘机器人动作规划策略与局部自主控制技术的研究】.pdf
Research on the Action Planning Strategy and theSemi-autonomous Control Approach for the Excavating -robot A thesis submitted to Zhejiang University for the degree of Doctor of Engineering by Yang Yi directed by Prof.Feng Pei -en ZhejiangUniversity Hangzhou P.R.
摘要 最后,本文提出了挖掘机器人“共负自主控制”的方案设计思想 及该系统的框架结构.关键词 挖掘机器人,动作-时间空间,动作规划,局部自主,共 负自主。
ABSTRACT approachthatusesfuzzylogic controlduringdiggingprocess to avoidobstacle.Here,theinformationfrom the pressure and position sensors correspond to the excavation status.Thefuzzylogic controller takes these signatures as theinput forfuzzy controlrules andgeneratesfuzzy outputtocontrol therobot