The motion planning and experimental research of a meal-assistance robot

被引：0
|
作者：
Zhang L. [1 ]
Li Y. [1 ]
Zhao Q. [1 ]
Zou Y. [1 ]
机构：
[1] College of Mechanical and Electrical Engineering, Harbin Engineering University
来源：
Gaojishu Tongxin/Chinese High Technology Letters | 2011年 / 21卷 / 12期
关键词：
Experimental research; Fuzzy PID; Meal-assistance robot; Motion planning; Trajectory control;
D O I：
10.3772/j.issn.1002-0470.2011.12.010
中图分类号：
学科分类号：
摘要：
The motion planning and control of an experimental meal-assistance robot were studied to solve the problem of the robot's safe and stationary meal-assistance. Taking the human's eating habit into consideration, the motion planning of the robot was studied by the method of polynomial interpolation based on velocity smoothing. In view of the variable parameter characteristic of the control system caused by the manipulator, the fuzzy self-tuning PID controller was designed. The robot motion trajectory tracking experiment was conducted on the experimental platform of dSPACE, and the experimental results showed the responding curves tracked the given motion trajectory curves perfectly, which ensured the spoon to move steadily and accurately. It is concluded by the experiment that the motion planning method and the fuzzy control algorithm are available for meal-assistance robots and have a strong robustness.
引用
收藏
页码：1279 / 1284
页数：5
相关论文
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