摘要
本文从理论和实验两方面研究了水力驱动消防机器人两喷嘴底座模型的平衡检测与控制.利用一角位移传感器沿一导向钢丝(联接于固定台架上下底板间)滑动检测出模型运动的平衡状态;运用模糊控制理论,通过STD-BUS 工业控制机成功地实现了模型运动平衡的实时控制.
The balance measuremet and control of a fire extinguishing robot model is investigated theoretically as wellas experimentally.This robot model is driven by pressurized water jeted from two-nozzle pedestal.The sta-tus of the motional balance is detected by an angular displacement sensor sliding over a steel wire(attached tothe top and botom plates of a fixed rack).The real-time sampling control of its balance is effectively realizedby use of fuzzy control theory,with a STD-BUS computer.
出处
《机器人》
EI
CSCD
北大核心
1993年第4期43-47,共5页
Robot
关键词
消防机器人
平衡
模糊控制
fire-extinguishing robot
balance
fuzzy control
