一种改进的BP网络在遥操作机器人系统中的应用

遥操作机器人就是通过计算机网络利用机器人对远距离环境进行观测和操作.本文为了对不确定环境下的遥操作机器人系统进行较好的控制,研究和分析了基于神经网络的遥操作机器人系统的预测控制算法.该算法通过建立远地从机械手和环境模型,预测从机械手返回的作用力,实现主、从机械手之间的无时滞跟踪.仿真结果表明,此算法能够获得较好的稳定性和操作性能.

Application of a reformative BP arithmetic in teleoperation robot system

Tele-operation robot refers to a kind of robot that can do observation and operation in long distance circumstance through internet as the communication channel,which can expand human's ability in carrying out tasks in dangerous environments such as in the sky,under the sea and in the radiating situations etc.To take good control on system under uncertain environment,a predictive algorithm based on neural network for tele-operation system was studied and analyzed.By erecting the remote slave manipulator and environment model,the returning force of slave manipulator can be predicted,thus the nondelay following between master and slave manipulator can be achieved.Stimulation test verifies that better stability and operational performance could be attained by this scheme.