Full-Text Search:
Home|About CNKI|User Service|中文
Add to Favorite Get Latest Update

The Manned Hexapod Robot's Man-machine Function Allocation and the Design of the Control System

YOU Bo;CAI Jia-long;XU Jia-zhong;LI Jia-yu;DING Liang;GAO Hai-bo;School of Automation,Harbin University of Science and Technology;School of Mechanical and Electrical Engineering,Harbin Institute of Technology;  
Due to its unique value the existing achievements of robot autonomous control cannot fully meet the requirements of harsh environment.Artificial control system which has full range of operational functions,real-time and good stability,will become the prerequisite for the task being smoothly and safely completed by the robots at the present stage.Based on the preliminary foundation about hardware system of the manned hexapod robot,the paper presents a control mode which is integrated with the principles of situational awareness and man-machine function allocation.Optimal allocation schemes through establishing a multi-objective fuzzy decision model is obtained.Finally a hexapod robot control system whose the core controller is BR controllers is designed and achieve the real-time condition monitoring of robotic and the accuracy of motion control.at the same time the integration of the proposed human-machine function allocation algorithm and good maneuverability of the system is also verified.We provide manned hexapod robot control system as the reference in the future.
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
©CNKI All Rights Reserved