94 智能系统学报 第6卷 improved,especially in the velocity and acceleration al Conference on Systems,Man,and Cybernetics.Orlando, trajectories by changing factors such as the fuzzy rules, USA,1997:2883-2887. the gain values,and so on as mentioned in Section III [3 ]CHOI C,LEE K,SHIN K,et al.Automatic landing meth- covering controller design.If the main target is od of a reclaimer on the stockpile[J].IEEE Transactions on Systems,Man,and Cybernetics-Part C:Applications and changed from following the position trajectories to areas Reviews,1999,29(1):308-314. such as velocity trajectories,the fuzzy rules,and the [4]HONG K S,CHOI C.Task-oriented approaches to the in- gains,other aspects of the controller will need to be verse kinematics problem for a reclaimer excavating and changed to produce satisfactory results.Nevertheless, transporting raw material[J].Advanced Robotics,2000, this exercise demonstrates the presented model and 14(3):185-204. simulation environment is capable of reflecting a real [5 LU Tienfu.Bucket wheel reclaimer modelling as a robotic BWR and being used to develop appropriate control arm[C]//IEEE Intermational Conference on Robotics and strategies for the physical control of a BWR. Biomimetics.Guilin,China,2009:263-268. [6]LU Tienfu.Preparation for tumning a bucket wheel reclaimer 6 Conclusion into a robotic arm C]//IEEE International Conference on Robotics and Biomimetics.Bangkok,Thailand,2008: This paper presents the implementation of fuzzy 1710-1715. logic for the motion control of a large BWR to follow [7]LU Tienfu,LIN G C.Intelligent systems techniques and given trajectories in a simulated environment.The con- their application in manufacturing systems[M]//LEONDES tent covers the modelling of a typical BWR using Mat- C T.Expert systems:the technology of knowledge manage- lab/Simulink and includes not only the kinematics and ment and decision making for the 21st century.San Diego, simplified dynamics but also the friction forces from its USA:Academic Press,2002:381-410. joints,limitations of its encoder resolutions,and unex- [8]LU Tienfu,MYO M T R.Optimization of reclaiming voxels pected random disturbances to cover the un-modelled for quality grade target with reclaimer minimum movement [C]//The Eleventh Interational Conference on Control, dynamics.Additionally,a hybrid controller,which Automation,Robotics and Vision(ICARCV 2010).Singa- consists of a fuzzy logic controller on top of a model pore,2010:1350-1410. based example,is developed and implemented.The About the author: paper provides engineers with an example of applying LU Tienfu received his Bachelor of fuzzy logic together with a model based approach to Science and Master of Science in Mechan- properly control the motion of a large BWR to follow ical Engineering from National Cheng defined trajectories as well as possible ways to further Kung University,Taiwan in 1988 and improve the controller performance. 1990 respectively.He received his PhD in Manufacturing and Mechanical Engineer- Acnowledgment ing from the University of South Australia in 1997.He was a postdoctoral researcher at the University of The authors would like to thank Australian Re- South Australia between 1997 and 2000.Since 2001,he has search Council and Industry Partner,Matrix Group Lty been with the School of Mechanical Engineering,University of Ltd.for the financial and in-kind support through the Adelaide and is currently a senior lecturer.He is the leader of ARC Linkage LP0989780 grant titled "The study and the robotics research lab at the University of Adelaide and his development of a 3-D real-time stockpile management current research interests include intelligent mobile robotics system"and the support in part from Institute for Min- (modelling,trajectory planning,localisation,and navigation), eral and Energy Resources,University of Adelaide underwater robotics modelling,localisation,and navigation), 2009-2010,as well as Faculty of Engineering,Com- insect robotics chemical plume source localisation),mecha- puter and Mathematical Sciences strategic research fun- tronic technologies in mining,and micro-motion robotic systems pzt actuator modelling and control,and micro-motion stages). ding,2010. He is a member of the IEEE and currently an associate Editor of References: the Australian Journal of Mechanical Engineering (AJME),En- gineers Australia,and a member of the International Journal of [1]LU Tienfu,XU Shihong.SPSim:a stockpile simulator for Intelligent Mechatronics and Robotics (IJIMR)Editorial Board. analyzing material quality distribution in mining[C]//Inter- He has so far published one Australian provisional patent,three national Conference on Mechatronics and Automation (IC- book chapters,26 journal papers and more than 80 conference MA2010）.Xi'an,China,2010:299-304. papers. [2]CHOI C,LEE K,SHIN K,et al.Inverse kinematics of a reclaimer:redundancy and solution[C]//IEEE Internation-