基于模糊传感器的机器人动态障碍环境中的运动控制(英文)

Fuzzy Sensor-based Motion Control among Dynamic Obstacles for Robot Manipulators

对自主式机械手在动态和部分已知且存在运动障碍环境中的运动规划和控制进行了研究 ,解决了自由碰撞运动控制中具有普遍意义的问题。利用人工势能场的机器人导航控制技术由模糊控制实现 ,系统的稳定性由李雅普诺夫原理保证。模糊控制器为机器人伺服系统提供控制指令 ,使机器人在不可预知的环境中能实时地、自主地选择到达目标的路径和方向。在动态环境的实时控制中 ,基于传感器的运动控制是处理未知模型和障碍物的重要控制方式。

This paper focuses on motion planning and control of autonomous manipulators in dynamic and partially known environments, and with moving obstacles. The union of motion planning and control is used to propose an answer to the general problem of collision free motion generation. The navigation technique of robot control using artificial potential fields is based on fuzzy logic and stability is guaranteed by Lyapunov theory. The purpose of controller, which is designed as a fuzzy controller, is to generate the commands for the servo systems of the robot so as to choose autonomously its way to reach its goal while reacting in real time to unexpected events. In real time world systems, sensor based motion control becomes essential to deal with model uncertainties and unexpected obstacles.