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对自主式机械手在动态和部分已知且存在运动障碍环境中的运动规划和控制进行了研究 ,解决了自由碰撞运动控制中具有普遍意义的问题。利用人工势能场的机器人导航控制技术由模糊控制实现 ,系统的稳定性由李雅普诺夫原理保证。模糊控制器为机器人伺服系统提供控制指令 ,使机器人在不可预知的环境中能实时地、自主地选择到达目标的路径和方向。在动态环境的实时控制中 ,基于传感器的运动控制是处理未知模型和障碍物的重要控制方式。
Autonomous manipulators are studied in motion planning and control of dynamic and partially known motion disorders, and solve the problems of universal significance in free-collision motion control. The robot navigation control technology using artificial potential field is realized by fuzzy control. The stability of the system is guaranteed by Lyapunov principle. The fuzzy controller provides the control commands to the robot servo system so that the robot can autonomously select the path and the direction to reach the target in an unpredictable environment in real time. In real-time control of the dynamic environment, sensor-based motion control is an important control method for handling unknown models and obstacles.