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基于RBF-BP算法的機械臂多自由度分揀控制系統設計
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西安思源學(xué)院文商學(xué)院

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Design of multi-degree-of-freedom sorting control system for manipulator based on RBF-BP algorithm
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    摘要:

    為提升機械臂設備的準確分揀能力,設計基于RBF-BP算法的機械臂多自由度分揀控制系統。利用RBF-BP前饋神經(jīng)網(wǎng)絡(luò ),規劃機械臂設備的運動(dòng)軌跡路線(xiàn),實(shí)現基于RBF-BP算法的機械臂運動(dòng)軌跡建模。確定工業(yè)相機在總功能框架中所處連接位置,根據機械臂選型情況,確定可編程邏輯控制器、變頻控制器對于所選機械臂元件的調節能力,完成對系統功能模塊的開(kāi)發(fā)。借助傳輸信道,將Sorting分揀指令、ToolControl控制指令反饋回核心控制主機,建立完整的指令執行回路,再聯(lián)合相關(guān)硬件設備結構,實(shí)現基于RBF-BP算法的機械臂多自由度分揀控制系統設計。實(shí)驗結果表明,在抓取能力相同的情況下,應用RBF-BP算法控制系統機械臂成功分揀的工件數量為19件,機械臂抓取成功率為95%,說(shuō)明所設計系統滿(mǎn)足提升機械臂準確分揀能力的設計初衷。

    Abstract:

    In order to improve the accurate sorting capability of the robotic arm equipment, a robotic arm multi-degree-of-freedom sorting control system based on the RBF-BP algorithm is designed. The RBF-BP feedforward neural network is used to plan the motion trajectory of the manipulator equipment, and the motion trajectory modeling of the manipulator based on the RBF-BP algorithm is realized. Determine the connection position of the industrial camera in the overall functional framework. According to the selection of the manipulator, determine the adjustment capability of the programmable logic controller and the variable frequency controller for the selected manipulator components, and complete the development of the system function module. With the help of the transmission channel, the Sorting order and ToolControl control order are fed back to the core control host, and a complete order execution loop is established, and then combined with the relevant hardware equipment structure to realize the design of the robotic arm multi-degree-of-freedom sorting control system based on the RBF-BP algorithm . The experimental results show that under the condition of the same grasping ability, the number of workpieces successfully sorted by the robotic arm controlled by the RBF-BP algorithm is 19, and the grasping success rate of the robotic arm is 95%, indicating that the designed system meets the requirements of lifting the robotic arm. The original intention of the design of accurate sorting capabilities.

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孔陶茹,齊峰,李晚春.基于RBF-BP算法的機械臂多自由度分揀控制系統設計計算機測量與控制[J].,2022,30(11):98-103.

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歷史
  • 收稿日期:2022-07-21
  • 最后修改日期:2022-08-24
  • 錄用日期:2022-08-24
  • 在線(xiàn)發(fā)布日期: 2022-11-17
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