【摘要】 为了减小拱泥机器人运动轨迹误差,对位置控制系统建立了数学模型,进行了参数自调整模糊控制器设计,利用MATLAB/Simulink对控制系统进行建模及仿真。仿真结果表明机器人具有良好的姿态调节能力。更多还原

【Abstract】 The mathematic model for position control system of move-in-mud robot is proposed and design of parameter self-adjusting fuzzy controller is done to eliminate the error of move-in-mud robot’s motion locus,and modeling and simulation to the control system using MATLAB/Simulink are done. The simulation results demonstrate that the robot has good pose regulating ability.更多还原