Search engine for discovering works of Art, research articles, and books related to Art and Culture
Javascript must be enabled to continue!
Design of Picking Robot Manipulator Control System Based on Fuzzy Compensation RBF Neural Network
View through CrossRef
Industrial manipulator occupies a very important position in industrial production. The tracking control of its control system and joint trajectory has always been a research hotspot. But the manipulator is a multi input multi output system, which has the characteristics of nonlinearity and strong coupling. Radial basis function (RBF) neural network has high nonlinear mapping ability. In this paper, the structure characteristics, learning algorithm and application of RBF neural network in manipulator control are analyzed. In this paper, the nonlinear approximation property of RBF neural network is theoretically verified. This paper analyzes the basic structure of picking manipulator system in detail. At the same time, the Lagrange Euler method is used to deduce the dynamic equation of the two degree of freedom series manipulator, and the inertia characteristics, Coriolis force and centripetal force characteristics, heavy torque characteristics are analyzed. The nonlinear system model of manipulator based on S-function is established in MATLAB, and the dynamic model is transformed into the form of second-order differential equation to facilitate the introduction of the designed algorithm.
Title: Design of Picking Robot Manipulator Control System Based on Fuzzy Compensation RBF Neural Network
Description:
Industrial manipulator occupies a very important position in industrial production.
The tracking control of its control system and joint trajectory has always been a research hotspot.
But the manipulator is a multi input multi output system, which has the characteristics of nonlinearity and strong coupling.
Radial basis function (RBF) neural network has high nonlinear mapping ability.
In this paper, the structure characteristics, learning algorithm and application of RBF neural network in manipulator control are analyzed.
In this paper, the nonlinear approximation property of RBF neural network is theoretically verified.
This paper analyzes the basic structure of picking manipulator system in detail.
At the same time, the Lagrange Euler method is used to deduce the dynamic equation of the two degree of freedom series manipulator, and the inertia characteristics, Coriolis force and centripetal force characteristics, heavy torque characteristics are analyzed.
The nonlinear system model of manipulator based on S-function is established in MATLAB, and the dynamic model is transformed into the form of second-order differential equation to facilitate the introduction of the designed algorithm.
Related Results
Sistem Kendali Hybrid Fuzzy-Pid pada Kinematika Robot Berkaki 4 Menggunakan Sensor Gyroscope
Sistem Kendali Hybrid Fuzzy-Pid pada Kinematika Robot Berkaki 4 Menggunakan Sensor Gyroscope
<p><em>Legged robots have attracted the attention of researchers because of their superior adaptation to complex environments compared to wheeled robots. Legged robots ...
Designing a robot to evaluate group formations
Designing a robot to evaluate group formations
Robots are making their way in environments inhabited by people. Whether in domestic or public crowded environments, robots should take into consideration social norms and behavior...
Nonlinear optimal control for robotic exoskeletons with electropneumatic actuators
Nonlinear optimal control for robotic exoskeletons with electropneumatic actuators
Purpose
To provide high torques needed to move a robot’s links, electric actuators are followed by a transmission system with a high transmission rate. For instance, gear ratios of...
Fuzzy Chaotic Neural Networks
Fuzzy Chaotic Neural Networks
An understanding of the human brain’s local function has improved in recent years. But the cognition of human brain’s working process as a whole is still obscure. Both fuzzy logic ...
PELATIHAN PERANCANGAN ROBOT BERODA DENGAN DETEKTOR TEPI MEJA PADA SEKOLAH SMA TARSISIUS 1 DAN SMA TRI RATNA
PELATIHAN PERANCANGAN ROBOT BERODA DENGAN DETEKTOR TEPI MEJA PADA SEKOLAH SMA TARSISIUS 1 DAN SMA TRI RATNA
Wheeled robot is a robot which movement is managed by the rotation of Direct Current (DC) motors. These motors are connected to wheels. Wheeled robot usually is used as a teaching ...
Trajectory Planning of Robot Manipulator Based on RBF Neural Network
Trajectory Planning of Robot Manipulator Based on RBF Neural Network
Robot manipulator trajectory planning is one of the core robot technologies, and the design of controllers can improve the trajectory accuracy of manipulators. However, most of the...
Spectral-Similarity-Based Kernel of SVM for Hyperspectral Image Classification
Spectral-Similarity-Based Kernel of SVM for Hyperspectral Image Classification
Spectral similarity measures can be regarded as potential metrics for kernel functions, and can be used to generate spectral-similarity-based kernels. However, spectral-similarity-...