Mine Robot Manipulator With Intelligent Controlling

Intelligent control is a newly developing cross subject. Fuzzy logic and neural network are the key content in studing intelligent control. This thesis applied fuzzy control and neural net work control techniques in the control of mine robot manipulator.The system of mine robot manipulator is the key to ensure the movement of manipulator according to the movement plan. This thesis analysis the mine robot manipulator control system, discussed the transfer function of valve-controlled hydraulic cylinder. Combing the fuzzy control theory, PID control theory, and neural network algorithm, I designed the fuzzy PID adjuster, velocity compensator, and studied the problem of movement plan with neural network. Aimed at the problem of local exremum in the algorithm of neural network, I proposed the Annealing Algorithm to avoid local extremum. At last, I simulated the proposed algorithms with computer aided design language Matlab.