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Author Lever, P.J.A. ♦ Fei-Yue Wang ♦ Deqian Chen
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©1994
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Fuzzy control ♦ Fuzzy logic ♦ Force sensors ♦ Automatic control ♦ Uncertainty ♦ Mathematical model ♦ Automatic generation control ♦ Force control ♦ Torque control ♦ Wrist
Abstract To automate a mining excavator the control issues resulting from environmental uncertainties must be solved. In particular the interactions between the excavation tool and the excavation environment are dynamic, unstructured and complex. Thus, generating rigorous mathematical models as required by conventional control techniques is extremely difficult if possible. This paper presents an excavator controller that uses fuzzy logic to interpret forces and torques gathered from a wrist mounted force/torque sensor during the excavation process. This approach enables the transfer of human heuristics and expert knowledge to the controller. Experimental results from several excavation tests using the fuzzy logic controller are given. These results represent the first step toward an integrated approach that uses force/torque, vision, and other sensor data to perform generic tasks in uncertain mining environments.
Description Author affiliation: Dept. of Min. & Geol. Eng., Arizona Univ., Tucson, AZ, USA (Lever, P.J.A.)
ISBN 0818653302
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 1994-05-08
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 554.65 kB
Page Count 6
Starting Page 3284
Ending Page 3289


Source: IEEE Xplore Digital Library