| 运用LMBP神经网络的黄瓜采摘机械手定位误差补偿算法 |
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| 引用本文： | 王燕,高峰,杨庆华.运用LMBP神经网络的黄瓜采摘机械手定位误差补偿算法[J].现代制造工程,2011(8). |
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| 作者姓名： | 王燕 高峰 杨庆华 |
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| 作者单位： | 浙江工业大学特种装备制造与先进加工技术教育部重点实验室,杭州,310032 |
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| 基金项目： | 国家863计划项目(2009AA04Z209); 浙江省机械电子工程重中之重学科开放基金资助项目(20090324) |
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| 摘 要： | 考虑到黄瓜采摘机械手结构参数的微小偏差可能会对末端定位精度造成较大的影响,因此,利用高精度三坐标测量仪P latinum FaroArm对机械手的结构参数进行了标定,建立了基于修正参数的正运动学模型,在此基础上对理想逆运动学进行误差分析,发现腰关节的角度误差远远大于位置编码器的精度。因此,提出采用LMBP神经网络算法求解修正后的关节角度,并将网络输出与理想逆运动学结合起来,达到补偿机械手定位精度的目的。为了验证算法的可行性,进行了仿真试验,结果表明:LMBP神经网络输出角度误差的最大值约为0.006 rad,能将末端位置误差从10.57mm补偿到3.77mm,大大提高了黄瓜采摘机械手的定位精度。
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| 关 键 词： | 机械手 结构参数 LMBP神经网络 误差补偿 |
Compensation algorithm of positioning accuracy for cucumber picking robot manipulator based on LMBP neural network |
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| WANG Yan,GAO Feng,YANG Oing-hua.Compensation algorithm of positioning accuracy for cucumber picking robot manipulator based on LMBP neural network[J].Modern Manufacturing Engineering,2011(8). |
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| Authors: | WANG Yan GAO Feng YANG Oing-hua |
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| Affiliation: | WANG Yan,GAO Feng,YANG Qing-hua(Key Laboratory of Special Purpose Equipment and Advanced Processing Technology,Ministry of Education,Zhejiang University of Technology,Hangzhou 310032,China) |
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| Abstract: | The positioning accuracy of the cucumber picking robot manipulator might be influenced seriously due to the slight deviation of the stucture parameters,therefore,the high precision three-coordinate measuring machine Platinum FaroArm was used to calibrate the stucture parameters of the robot manipulator and the forward kinematic model was constructed based on the modified structure parameters,and the error analysis of the ideal inverse kinematics indicated that the angle error of the waist joint far exceeded... |
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| Keywords: | robot manipulator structure parameter LMBP neural network error compensation |
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