本文關(guān)鍵詞： 神經(jīng)網(wǎng)絡(luò) 液壓柔性機(jī)械臂 跟蹤控制 軌跡　出處：《液壓與氣動(dòng)》2017年10期 　論文類型：期刊論文

【摘要】：針對(duì)液壓柔性機(jī)械臂在運(yùn)動(dòng)作業(yè)過程中,由于系統(tǒng)參數(shù)不確定、運(yùn)動(dòng)軌跡缺乏控制,導(dǎo)致運(yùn)動(dòng)失穩(wěn)的情況,首先介紹了神經(jīng)網(wǎng)絡(luò),結(jié)合柔性機(jī)械臂的高自由度特點(diǎn)選擇適合的軌跡跟蹤方法;其次,結(jié)合模糊神經(jīng)網(wǎng)絡(luò)圖,對(duì)液壓柔性機(jī)械臂系統(tǒng)進(jìn)行參數(shù)化設(shè)計(jì),利用其能跟蹤軌跡誤差的特點(diǎn),結(jié)合一階梯度法尋找液壓柔性機(jī)械臂的運(yùn)動(dòng)期望位置;最后,在滿足兩個(gè)關(guān)節(jié)達(dá)到期望軌跡的同時(shí),利用神經(jīng)網(wǎng)絡(luò)系統(tǒng)有效控制液壓柔性機(jī)械臂的運(yùn)動(dòng)軌跡。實(shí)驗(yàn)表明,該智能網(wǎng)絡(luò)方法具有更好的跟蹤效果。
[Abstract]:In view of the uncertain system parameters and the lack of control over the trajectory of the hydraulic flexible manipulator in the process of motion, the motion instability is caused by the neural network. Combined with the characteristics of high degree of freedom of flexible manipulator, the suitable trajectory tracking method is selected. Secondly, combining with fuzzy neural network diagram, the parametric design of hydraulic flexible manipulator system is carried out, and the characteristic of track error can be used to track the trajectory error. Combined with the first-order gradient method, the desired position of the hydraulic flexible manipulator is found. Finally, the trajectory of the hydraulic flexible manipulator is effectively controlled by using the neural network system while satisfying the desired trajectory of the two joints. The intelligent network method has better tracking effect.
【作者單位】： 赤峰工業(yè)職業(yè)技術(shù)學(xué)院機(jī)械自動(dòng)化系;
【基金】：內(nèi)蒙古自然科學(xué)基金(2011MS0702)
【分類號(hào)】：TP183;TP241

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本文編號(hào)：1516273