摘要
针对抛射机器人距离目标位置较远,在位置校准过程中容易出现目标位置判断不准、校准速度慢等问题,提出了定距离的位置校准方式。在选用高精度激光扫描仪提高位置判断精度的基础上,构建了精准的数学模型,同时在算法中加入了模糊控制。试验结果表明,该装置位置校准效果理想,符合机器人的抛射需求。
Normally,the projectile robot is located far from the position of target,in position calibration process,inaccurate judgment of the target position occurs often,and the calibration speed is slow,thus the position calibration method with given distance is proposed. By selecting high precision laser scanner to enhance the accuracy of position judgment,the accurate mathematical model is built; in addition,fuzzy control is added in the algorithm. The experimental result shows that the device offers good position calibration effect,and meets projectile demand for robots.
出处
《自动化仪表》
CAS
北大核心
2014年第9期54-56,60,共4页
Process Automation Instrumentation
基金
国家自然科学基金资助项目(编号:51275426)
中央高校基本研究业务费专项基金资助项目(编号:SWJTU09CX019)
关键词
位置校准
抛射机器人
激光扫描仪
模糊控制
模糊算法
Position calibration Projectile robot Laser scanner Fuzzy control Fuzzy algorithm
