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| 基于神经网络内模控制在机械手中的研究 | |
| 引用本文： | 刘军,王万丽,窦秀华. 基于神经网络内模控制在机械手中的研究[J]. 电气传动自动化, 2009, 31(2) |
| 作者姓名： | 刘军 王万丽 窦秀华 |
| 作者单位： | 青岛科技大学自动化与电子工程学院,山东,青岛,266042;青岛科技大学自动化与电子工程学院,山东,青岛,266042;青岛科技大学自动化与电子工程学院,山东,青岛,266042 |
| 摘 要： | 将内模控制与神经网络相结合的方法来解决机械手的控制问题,使机械手沿着一定的期望轨迹运行。神经网络对机械手建模作为内模控制中的模型,训练方法采用前向网络的BP学习算法。单个神经元使用静态模型,输入神经元之间的延迟引入系统的动态。仿真结果表明,该方法具有有效性和实用性。 |
| 关 键 词： | 神经网络 内模控制 机械手 |
Research on the internal model control of robot arm based on neural networks |
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| LIU Jun,WANG Wan-fi,DOU Xiu-hua. Research on the internal model control of robot arm based on neural networks[J]. Electrical Drive Automation, 2009, 31(2) | |
| Authors: | LIU Jun WANG Wan-fi DOU Xiu-hua |
| Affiliation: | College of Automation and Electronic Engineering;Qingdao University of Science and Technology;Qingdao 266042;China |
| Abstract: | Controlling robot arm is solved through integrating neural networks with Internal Model Control(IMC).The model of robot arm in IMC is constructed by neural networks,the learning algorithm used the feed-forward BP algorithm.The models of the individual neurons are static,and the dynamics system is introduced by delays between pairs of input neurons.The method is effective and practical is proved by simulaton result. |
| Keywords: | neural network internal model control robot arm |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |