| 微小气动机器人移动FSM建模与控制 |
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| 引用本文： | 于莲芝,余国君,朱小飞,张世雷.微小气动机器人移动FSM建模与控制[J].控制工程,2011,18(1):133-137. |
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| 作者姓名： | 于莲芝 余国君 朱小飞 张世雷 |
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| 作者单位： | 上海理工大学光电信息与计算机工程学院,上海,200093 |
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| 基金项目： | 上海理工大学博士启动金项目(10D209) |
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| 摘 要： | 根据仿生尺蠖运动机理研制了一种用于人体腔道微创诊查的微小机器人系统,该机器人系统由前支撑单元、后支撑单元和具有3个气室的橡胶驱动器三部分组成.根据微型机器人的本体结构分析了机器人的移动控制原理,给出了在一个运动循环周期内机器人移动一个步距的运动状态和控制时序.阐述了有限状态机原理,并基于有限状态机原理建立了该机器人移动...
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| 关 键 词： | 微小机器人 运动状态 有限状态机模型 控制算法 |
FSM Model and Control Algorithm for Locomotion of Miniature Pneumatic Robot |
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| YU Lian-zhi,SHE Guo-jun,ZHU Xiao-fei,ZHANG Shi-lei.FSM Model and Control Algorithm for Locomotion of Miniature Pneumatic Robot[J].Control Engineering of China,2011,18(1):133-137. |
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| Authors: | YU Lian-zhi SHE Guo-jun ZHU Xiao-fei ZHANG Shi-lei |
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| Affiliation: | YU Lian-zhi,SHE Guo-jun,ZHU Xiao-fei,ZHANG Shi-lei(College of Optoelectric Information and Computer Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China) |
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| Abstract: | A miniature pneumatic robot system is designed based on the inchworm moving mechanism for inspection in human cavities with minimal invasive.The structure of the robot consists of a front holding unit,a rear holding unit and a rubber actuator with three air chambers.According to the structure of the robot,the locomotive control principle is analyzed,and the locomotion modes and the control orders of the robot system in one moving cycle with one step are given out.The theory of FSM(finite state machine)is de... |
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| Keywords: | miniature robot moving mode FSM model control algorithm |
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