English  |  正體中文  |  简体中文  |  全文笔数/总笔数 : 58323/91876 (63%)
造访人次 : 14088664      在线人数 : 68
RC Version 7.0 © Powered By DSPACE, MIT. Enhanced by NTU Library & TKU Library IR team.
搜寻范围 查询小技巧:
  • 您可在西文检索词汇前后加上"双引号",以获取较精准的检索结果
  • 若欲以作者姓名搜寻,建议至进阶搜寻限定作者字段,可获得较完整数据
  • 进阶搜寻

    jsp.display-item.identifier=請使用永久網址來引用或連結此文件: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/119161

    题名: Double-loop fuzzy motion control with CoG supervisor for two-wheeled self-balancing assistant robots
    作者: Hsu, Chun-Fei;Kao, Wei-Fu
    关键词: Self-balancing robot;Dual arms;Double-loop approach;CoG position
    日期: 2020-09
    上传时间: 2020-09-22 12:10:17 (UTC+8)
    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.
    關聯: International Journal of Dynamics and Control 8(3), p.851-866
    DOI: 10.1007/s40435-020-00617-y
    显示于类别:[電機工程學系暨研究所] 期刊論文


    档案 描述 大小格式浏览次数



    DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library & TKU Library IR teams. Copyright ©   - 回馈