CASIA OpenIR  > 09年以前成果
Intelligent Excavator Control System for Lunar Mining System
Paul J. A. Lever; Fei-Yue Wang
1995
发表期刊Journal of Aerospace Engineering
卷号8期号:1页码:16-24
摘要
A major benefit of utilizing local planetary resources is that it reduces the
need and cost of lifting materials from the Earth's surface into Earth orbit. The location
of the moon makes it an ideal site for harvesting the materials needed to assist space
activities. Here, lunar excavation will take place in the dynamic unstructured lunar environment,in which conditions are highly variable and unpredictable. Autonomous mining
(excavation) machines are necessary to remove human operators from this hazardous
environment. This machine must use a control system structure that can identify, plan,
sense, and control real-time dynamic machine movements in the lunar environment. The
solution is a vision-based hierarchical control structure. However, excavation tasks require
force/torque sensor feedback to control the excavation tool after it has penetrated
the surface. A fuzzy logic controller (FLC) is used to interpret the forces and torques
gathered from a bucket mounted force/torque sensor during excavation. Experimental
results from several excavation tests using the FLC are presented here. These results
represent the first step toward an integrated sensing and control system for a lunar mining
system.
关键词Lunar Mining System
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/14895
专题09年以前成果
推荐引用方式
GB/T 7714
Paul J. A. Lever,Fei-Yue Wang. Intelligent Excavator Control System for Lunar Mining System[J]. Journal of Aerospace Engineering,1995,8(1):16-24.
APA Paul J. A. Lever,&Fei-Yue Wang.(1995).Intelligent Excavator Control System for Lunar Mining System.Journal of Aerospace Engineering,8(1),16-24.
MLA Paul J. A. Lever,et al."Intelligent Excavator Control System for Lunar Mining System".Journal of Aerospace Engineering 8.1(1995):16-24.
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