王建丰. 消防机器人——利用水流反力使其蛙跳[J]. 机器人, 1993, 15(4): 43-47..
WANG Jianfeng. FIRE-EXTINGUISHING ROBOT—FROGJUMPING DRIVEN BY REACTING FORCE OF WATER. ROBOT, 1993, 15(4): 43-47..
Abstract：The balance measuremet and control of a fire extinguishing robot model is investigated theoretically as well as experimentally.This robot model is driven by pressurized water jeted from two-nozzle pedestal.The status of the motional balance is detected by an angular displacement sensor sliding over a steel wire(attached to the top and botom plates of a fixed rack).The real-time sampling control of its balance is effectively realized by use of fuzzy control theory,with a STD-BUS computer.
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