| 六维腕力传感器的补偿模糊神经网络模型 |
| |
| 引用本文： | 干方建,刘正士. 六维腕力传感器的补偿模糊神经网络模型[J]. 机床与液压, 2002, 12(1): 32-34 |
| |
| 作者姓名： | 干方建 刘正士 |
| |
| 作者单位： | 1. 中国科学技术大学,合肥市,230052
2. 合肥工业大学,230009 |
| |
| 基金项目： | 安徽省自然科学基金项目 编号 0 0 0 43310 |
| |
| 摘 要： | 本文基于神经网络可以对非线性系统的任意逼近能力，建立了六维腕力传感器的补偿模糊神经网络模型，仿真结果表明，这种补偿模糊神经网络对六维腕力传感器非线性系统逼近精度高，训练步数少，学习收敛速度快，误差曲线稳定，可作为六维腕力传感器标定或用于机器人基于腕力传感器力控制的动力学模型。
|
| 关 键 词： | 六维腕力传感器 补偿模糊神经网络模型 仿真 机器人 |
| 修稿时间： | 2001-06-05 |
A compensated fuzzy neural network model of 6-dimensional wrist force sensor |
| |
| Gan Fangjian et al. A compensated fuzzy neural network model of 6-dimensional wrist force sensor[J]. Machine Tool & Hydraulics, 2002, 12(1): 32-34 |
| |
| Authors: | Gan Fangjian et al |
| |
| Affiliation: | Gan Fangjian et al |
| |
| Abstract: | In this paper, a compensated fuzzy neural nework model of 6 - dimemtion wrist force sensor is estab-lished based on beural network to be able to approach any nonlinear system at any precision. Simulation results showthat this network model has advantages of little training steps and quick leaheng convergence rate and stabilising errorcurve,and approximate 6-dimemtional writs force sensor system precision,and can operate as a dynamic model of 6-dimemtional wrist force sensor system for the sensor orientation or for robot force control.; |
| |
| Keywords: | Wrist foree sensor Mode1 Fuzzy neural network Simulation |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
