应用模糊理论提高力觉临场感遥控作业系统的操作性能  

Enhancing the Operational Performance of the Telecontrol Operation System With Force-Sence and Proximity Awareness by Using Fuzzy Theory

作　　者：朱清峰[1] 黄惟一[1] 

机构地区：[1]东南大学仪器科学与工程系,江苏南京210096

出　　处：《自动化仪表》1999年第5期4-6,共3页Process Automation Instrumentation

基　　金：国家高科技航天领域项目:8632基金-7.

摘　　要：针对作业环境的复杂性与不确定性,提出采用模糊理论对系统控制器参数进行在线实时调整.介绍了力觉临场感遥控作业系统和如何利用模糊理论对PlD控制参数的在线调整方法,给出了实验装置及其结果.To meet the complication and uncertainty of the operational environment the author states that the real time parameters of the controller can be adjusted on line by using fuzzy theory. The telecontrol operation system with force-sence and proximity awareness and the method of adjusting PID control parameters on line with fuzzy theory are introduced. The test device and test result are given.

关 键 词：机器人 力觉临场感 模糊理论 操作性能 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]