| 一种柔性机器人系统建模方法 |
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| 引用本文： | 郭巧,吴越,陆际联. 一种柔性机器人系统建模方法[J]. 北京理工大学学报(英文版), 1998, 7(4): 388-394 |
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| 作者姓名： | 郭巧 吴越 陆际联 |
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| 作者单位： | 北京理工大学机器人研究中心!北京，100081 |
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| 摘 要： | 目的提出一种更实用的柔性机器人系统建模方法，方法采用改进的人工神经网络（ANN）的算法与结构，在建模过程所用数据全部取自一个运动中的非常柔软的铜质弹性杆，这个弹性杆被固定在一个FANUCS-300型机器人操作机的终端上，结果理论分析与实验结果表明这个建模方法更适合于具有快变动力学特性的柔性系统，与已有的建模方法相比，它更精确和更适合于实时应用，结论这种建模方法适合于具有快变特性的柔性机器人系统的建模。
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| 关 键 词： | 非线性分析 柔性系统建模 人工神经网络 |
A Modelling Scheme for Flexible Robot Manipulators |
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| Guo Qiao,Wu Yue and Lu Jilian. A Modelling Scheme for Flexible Robot Manipulators[J]. Journal of Beijing Institute of Technology, 1998, 7(4): 388-394 |
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| Authors: | Guo Qiao Wu Yue Lu Jilian |
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| Affiliation: | Robotics Research Center, Beijing Institute of Technology, Beijing 100081;Robotics Research Center, Beijing Institute of Technology, Beijing 100081;Robotics Research Center, Beijing Institute of Technology, Beijing 100081 |
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| Abstract: | Aim To propose a modelling method for flexible manipulators. Methods The improved algorithm and structure of the ANN (artificial neural networks) were used. All of the data used in the process of modelling came from experiments based on a very flexible link which was fixed on a FANUC Robot S-Model 300 in our lab.Results and Conclusion The theoretical analysis and experiment results showed that this modelling scheme is more suitable for flexible systems with characteristics of fast changing dynamics, and also it can be more accurate than others and is more convenient for real-time use. |
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| Keywords: | nonlinear analysis flexible system modelling artificial neural network |
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