教師資料查詢 | 類別: 期刊論文 | 教師: 許駿飛 Hsu, Chun-Fei (瀏覽個人網頁)

標題:Double-loop fuzzy motion control with CoG supervisor for two-wheeled self-balancing assistant robots
學年
學期
出版(發表)日期2020/09/01
作品名稱Double-loop fuzzy motion control with CoG supervisor for two-wheeled self-balancing assistant robots
作品名稱(其他語言)
著者Chun-Fei Hsu; Wei-Fu Kao
單位
出版者
著錄名稱、卷期、頁數International Journal of Dynamics and Control 8(3), p.851-866
摘要Though adding manipulator arms gives a two-wheeled self-balancing assistant robot (TSAR) the ability of fetching object, the degenerated balancing performance would occur without considering the effect of robot center-of-gravity (CoG) position when the manipulator arms operate. To tackle this problem, a double-loop fuzzy motion control (DFMC) system is proposed to control the TSAR moving, turning, and reaching a desired position while keeping TSAR balanced. A CoG supervising controller is proposed to control the body pitch angle of TSAR with respect to manipulator arms operate. To show the effectiveness of the CoG supervising controller, three engagement scenarios are applied in the presence of external disturbances and system uncertainties. The experimental results show that the proposed DFMC system with considering CoG supervising controller can achieve better motion performance than without considering that. Further, a visual serving technique is used for doing object recognition and a fuzzy guidance control (FGC) is proposed to let the TSAR can implement the object tracking mission. The experimental results show that not only the DFMC system can maintain TSAR balance but also the FGC system can lead TSAR to fetch target object successfully.
關鍵字Self-balancing robot;Dual arms;Double-loop approach;CoG position
語言英文
ISSN2195-2698
期刊性質國外
收錄於SCI;
產學合作
通訊作者
審稿制度
國別德國
公開徵稿
出版型式,電子版,紙本
相關連結
SDGs
  • 產業創新與基礎設施
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