共查询到13条相似文献,搜索用时 62 毫秒
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针对传统机器人结构化示教抓取无法满足智能制造生产过程中实际抓取需求的问题,对机器人在非结构化场景下的多目标灵活抓取进行了研究,在分析了传统机器人抓取检测方法的基础上以智能协作式机器人Baxter作为操作对象,融合机器视觉技术提出了一种基于改进的Canny边缘检测和Hough变换的机器人抓取检测分类算法,并最终实现了机器... 相似文献
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为了提高机器人运动轨迹的控制效果,提出一种基于多目标优化克隆算法的机器人模糊控制方案。分析了克隆变异算法的等级支配关系及增殖机制,并基于多目标优化策略对算法的性能进行优化;基于目标函数向量识别出理想曲线的最优解,实现对机器人系统运动轨迹优化和动态控制补偿。搭建仿真平台验证所提控制算法的有效性,从对机器人各关节运动数据采样对比可知:所提出算法的轨迹控制偏差更小,控制轨迹更接近于理想轨迹,尤其是在加入噪声和干扰信号的条件下控制效果的优势更明显 相似文献
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根据赫兹接触理论,对所提出的车用类球面无级变速器中的阿基米德螺旋面加压机构的自适应性能进行分析及计算,并与钢球V形槽加压机构做了分析与对比;探讨了加压螺旋面螺旋升角的最佳取值范围。结果表明:该加压机构的传动系数比钢球V形槽加压机构有明显的下降,可避免钢球V形槽加压产生的强烈冲击而导致的加压失效状况,有效提高变速器的承载能力,自适应加压性能更优异。此外,采用ABAQUS软件的分析方法,对该加压机构在汽车整个行驶工况下的接触应力进行了计算和分析。验证了该加压机构的强度足以满足设计要求。 相似文献
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The real-time recurrent learning algorithm is a gradient-following learning algorithm for completely recurrent networks running in continually sampled time. Here we use a series of simulation experiments to investigate the power and properties of this algorithm. In the recurrent networks studied here, any unit can be connected to any other, and any unit can receive external input. These networks run continually in the sense that they sample their inputs on every update cycle, and any unit can have a training target on any cycle. The storage required and computation time on each step are independent of time and are completely determined by the size of the network, so no prior knowledge of the temporal structure of the task being learned is required. The algorithm is nonlocal in the sense that each unit must have knowledge of the complete recurrent weight matrix and error vector. The algorithm is computationally intensive in sequential computers, requiring a storage capacity of the order of the third power of the number of units and a computation time on each cycle of the order of the fourth power of the number of units. The simulations include examples in which networks are taught tasks not possible with tapped delay lines—that is, tasks that require the preservation of state over potentially unbounded periods of time. The most complex example of this kind is learning to emulate a Turing machine that does a parenthesis balancing problem. Examples are also given of networks that do feedforward computations with unknown delays, requiring them to organize into networks with the correct number of layers. Finally, examples are given in which networks are trained to oscillate in various ways, including sinusoidal oscillation. 相似文献
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采煤机电液调速系统对保证煤矿生产具有重要的作用。在分析恒功率自动调速的电液控制系统原理的基础上,建立了基于RBF神经网络自整定的PID控制的数学模型。通过在MATLAB/GUI仿真平台上计算得到系统的实际输出和模型输出的误差不超过5%,设计的RBF神经网络的电液恒功率调速自整定PID控制系统具有更高的跟踪精度和响应特性,完全可以实现系统的高精度与快速调速控制。 相似文献
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为了提高注塑机合模机构的合模力和启闭模效率,文章分析了双曲肘合模机构的运动特性和力学特性,在保持动模板行程不变并满足各种约束的前提下,建立合模机构的机构总长、增力比和行程比的多目标优化设计模型,并基于MATLAB遗传算法工具箱(GAOT),对双曲肘合模机构的关键结构参数进行多目标优化.结果表明,优化后机构总长度下降了13.7%,行程比提高了16.3%,增力比提高了3.83%. 相似文献
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对马氏体相变理论的研究情况进行了概括而粗浅的评价,指出,马氏体相变的切变机制并不成熟,存在认识上的误区。应开展新的关于马氏体转变机制的研究,开创马氏体相变理论研究的新局面。 相似文献