Simulation of task-oriented multisensor intelligent control of microassembly robot

被引：0

作者：

Liu, Yuejun ^{[1
]}

Xu, Bin ^{[1
]}

Zhang, Yali ^{[1
]}

Gao, Penglong ^{[1
]}

机构：

[1] College of Economics and Management, Hebei University of Architecture, Zhangjiakou, Hebei,075000, China

来源：

Academic Journal of Manufacturing Engineering | 2020年 / 18卷 / 02期

关键词：

Sonar - Intelligent control - Three term control systems - Intelligent robots;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

The traditional single sensor control has a fuzzy point, which causes that the microassembly robot is unable to avoid the obstacle effectively. To address this problem, a taskoriented multisensor intelligent control of microassembly robot is proposed in this paper. The task model for microassembly robot is built. Sonar sensor and odometer are selected as the sensors. The he sensing data is fused to avoid blurring. PID control method is used to control the motion of microassembly robot. The change of attitude angle of the robot with visual processing and recognition and the deviation of the given attitude angle are the input of PID controller. According to the output control of the controller, the pose of the robot is adjusted to realize the control of the robot. Whether there is obstacle in front of the robot is determined with the distance of the robot and the wall collected by sonar sensor and odometer to achieve the control decision of robot at the corner. Experimental results show that the proposed method can effectively avoid obstacle. © 2020 Editura Politechnica. All rights reserved.

引用

页码：189 / 195