履带式管道机器人的自适应模糊控制  

Adaptive Fuzzy Control for the Crawler Robot in Pipeline

作　　者：吕恬生 宋钰[1] 沈海东[1] 

机构地区：[1]上海交通大学机械工程系

出　　处：《上海交通大学学报》1997年第9期68-71,共4页Journal of Shanghai Jiaotong University

基　　金：上海市科技发展基金

摘　　要：介绍了自适应履带式管道机器人的基本运动机构，分析了其在管内的运动状态，研究了对机器人在直管与大曲率半径弯管内移动时的运动模糊控制方式．根据大量的实验结果分析改变管道机器人运动环境，如不同管道直径、不同管道弯曲半径等，对机器人运动状态的影响．运用相关原理研制了具有一定管内运动环境自适应能力的履带式管道机器人模型样机及其运动控制系统．The fundamental mechanism of the adaptive crawler robot in pipeline is described and its situation of motion in pipe is analysed. The fuzzy control of the robot moving in a straight or bending pipe with large curvature radius is studied. Based on a lot of experiments, the effect on kinematic state of the robot is analysed when its motion circumstance, such as the different diameter of pipe and bending radius, is changed. And a model and its control system, which have certain adaptive capacity for the kinematic situation in pipe, are developed successfully.

关 键 词：机器人 模糊控制 自适应控制 管道机器人 履带式 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]