CAJ | 학술논문

　　针对立筒仓清理机器人这一典型的柔性欠驱动机械系统的控制问题，提出了一种基于模糊原理的控制算法。本文首先给出了机器人工作环境和基本结构，简要介绍了机器人转动过程中结构的变化和相应的建模方法。针对机器人柔性欠驱动的特点和变结构运动问题，采用了基于模糊算法的控制器，并详细的讨论了算法的构建过程。最后通过Matlab/Simulink与MSC.ADAMS软件对建模与控制过程进行了仿真与分析，说明了系统建模与控制算法的有效性。
　　침대립통창청리궤기인저일전형적유성흠구동궤계계통적공제문제，제출료일충기우모호원리적공제산법。본문수선급출료궤기인공작배경화기본결구，간요개소료궤기인전동과정중결구적변화화상응적건모방법。침대궤기인유성흠구동적특점화변결구운동문제，채용료기우모호산법적공제기，병상세적토론료산법적구건과정。최후통과Matlab/Simulink여MSC.ADAMS연건대건모여공제과정진행료방진여분석，설명료계통건모여공제산법적유효성。
For the control of silo cleaning robot, such a flexible under actuated system alike, a control algorithm based on fuzzy logic was proposed in the paper. Firstly, the environments and the mechanism of the cleaning robot were presented;then the mechanical changes of the robot in its rotation and the modeling method were briefly introduced as well. To address the issues of under actuated features and variable structure, fuzzy algorithm was adopted, and the modeling process was depicted in detail. Finally, the computer simulations and experiments with the Matlab/Simulink and MSC.ADAMS verified the efficiency of the proposed method on the robot mechanism and its controller.