| 采掘机器人的模糊监督——神经网络控制器技术 |
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| 引用本文： | 龚向东,王建治.采掘机器人的模糊监督——神经网络控制器技术[J].机器人,1996,18(5):316-320. |
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| 作者姓名： | 龚向东 王建治 |
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| 作者单位： | 浙江大学流体传动国家实验室 |
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| 基金项目： | 国家教委博士点基金项目，浙江大学流体传动与控制国家重点实验室资助项目． |
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| 摘 要： | 介绍一种基于规则的自学习神经网络控制器在采掘机器人上的应用。它根据实时执行的结果，采用多步学习－模糊监督学习方法，修正神经网络的教师信号，使控制算法简化，提高了计算的实时性，加快了学习速度实验验证了采用该方法取得的一些结果。
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| 关 键 词： | 采掘机器人 神经网络 控制器 机器人 |
FUZZY SUPERVISION OF ROBOTIC EXCAVATOR RESEARCH ON NEURAL NETWORK CONTROLLERS |
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| GONG Xiangdong,WANG Jianzhi,FENG Pien,GAO Yu.FUZZY SUPERVISION OF ROBOTIC EXCAVATOR RESEARCH ON NEURAL NETWORK CONTROLLERS[J].Robot,1996,18(5):316-320. |
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| Authors: | GONG Xiangdong WANG Jianzhi FENG Pien GAO Yu |
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| Affiliation: | The State Key Laboratory for Fluid Power Transmission and Control in Zhejiang University 310027 |
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| Abstract: | A method of rule based self learning neural network controller applied to the robotic excavator is presented. According to the real time control result, the controller takes advantage of the method of multiple steps learning and fuzzy supervision to correct the teacher signals of neural network, therefore, the control algorithm becomes simple, the reality of calculating is improved, and the learning speed is increased. This method is tested and verified by experiments. |
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| Keywords: | Robotic excavator fuzzy control neural network control |
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