[1]梁书立,冯渭春.空间机械手末端位姿修正模型构建方法[J].工业仪表与自动化装置,2017,(03):3-6.
　LIANG Shuli,FENG Weichun.Method of building correction model of end position and posture on space manipulator[J].Industrial Instrumentation & Automation,2017,(03):3-6.

点击复制

空间机械手末端位姿修正模型构建方法

《工业仪表与自动化装置》[ISSN:1000-0682/CN:61-1121/TH]

卷:

期数:

2017年03期

页码:

3-6

栏目:

出版日期:

2017-06-15

文章信息/Info

Title:

Method of building correction model of end position and posture on space manipulator

文章编号:

1000-0682（2017）03-0000-00

作者:

梁书立; 冯渭春

(北京跟踪与通信技术研究所，北京100094)

Author(s):

LIANG Shuli;  FENG Weichun

(Beijing Institute of Tracking and Telecommunications Technology, Beijing 100094, China)

关键词:

机械手; BP神经网络; 末端位姿; 修正模型

Keywords:

manipulator;  BP neural network;  end position and posture;  correction model

分类号:

TP241

DOI:

-

文献标志码:

A

摘要:

为了有效减小空间机械手的末端位姿误差，通过分析误差来源，该文提出了基于BP神经网络的空间机械手末端位姿修正模型构建方法，设计了关节转角系统误差、随机误差、末端位姿系统误差和随机误差共4类数据对该方法进行验证。仿真结果表明该方法构建的修正模型是有效的，能够大幅提高末端位姿精度。

Abstract:

In order to effectively reducing the error of end position and posture on space manipulator, error sources are analyzed, method of building correction model of end position and posture on space manipulator based on BP neural network is proposed. Four kinds of data with system error and random error of joint angle, system error and random error of end position and posture are designed to validate the method. The simulation results show that correction model using the method to building is effective, can greatly improve precision of end position and posture.

参考文献/References:

[1] 王琨.提高串联机械臂运动精度的关键技术研究[D].中国科学技术大学，2013.

相似文献/References:

[1]刘 千,王 堃.基于BP神经网络的防空目标识别方法[J].工业仪表与自动化装置,2015,(02):94.
　LIU Qian,WANG Kun.The research of the air defense target recognition based on BP neural network[J].Industrial Instrumentation & Automation,2015,(03):94.
[2]李春华,徐少雄.基于PSO的RBF神经网络的变频调速系统的研究[J].工业仪表与自动化装置,2015,(03):3.
　LI Chuanhua XU Shaoxiong.The research of variable frequency speed control system based on PSO-RBFneural network[J].Industrial Instrumentation & Automation,2015,(03):3.
[3]巴寅亮,王书提,谢 鑫.基于改进的BP神经网络的柴油发动机故障诊断[J].工业仪表与自动化装置,2015,(03):94.
　BA Yinliang,WANG Shuti,XIE Xin.Research of diesel engine fault based on improved BP neural network[J].Industrial Instrumentation & Automation,2015,(03):94.
[4]吴光明,李 瑾,杨 军.自动装卸料机械手设计[J].工业仪表与自动化装置,2015,(04):20.
　WU Guangming,LI Jin,YANG Jun.The design of a manipulator for loading and unloading[J].Industrial Instrumentation & Automation,2015,(03):20.
[5]李珊珊,李一民,郭真真.基于神经网络的分阶车牌字符识别算法研究[J].工业仪表与自动化装置,2016,(02):7.
　LI Shanshan,LI Yimin,GUO Zhenzhen.Research on a phased license plate character recognition algorithm based on neural network[J].Industrial Instrumentation & Automation,2016,(03):7.
[6]汤会增,韩 湘,毛建坤,等.基于BP网络的GIS局部放电声电联合检测故障定位方法[J].工业仪表与自动化装置,2016,(04):57.
　TANG Huizeng,HAN Xiang,MAO Jiankun,et al.The fault location method of acoustic electric joint partial discharge detection based on BP network in GIS[J].Industrial Instrumentation & Automation,2016,(03):57.
[7]韩小东,韩 冰.基于PLC和全气动机械手的分拣系统设计[J].工业仪表与自动化装置,2017,(01):75.
　HAN Xiaodong,HAN Bing.The design of sorting system based on PLC and all-pneumatic manipulator[J].Industrial Instrumentation & Automation,2017,(03):75.
[8]梁书立,冯渭春.空间机械手模型参数在轨标定方法研究[J].工业仪表与自动化装置,2017,(02):3.
　LIANG Shuli,FENG Weichun.Research on the on-orbit calibration of space manipulator model parameter[J].Industrial Instrumentation & Automation,2017,(03):3.
[9]王 权,李 军,戴 立.基于BP神经网络的电动伺服加载算法研究[J].工业仪表与自动化装置,2017,(02):8.
　WANG Quan,LI Jun,DAI Li.Research on electric loading simulator algorithms based on BP neural network[J].Industrial Instrumentation & Automation,2017,(03):8.
[10]任晓芳,林 娟.六自由度机械手抓取系统的OPC通信技术研究[J].工业仪表与自动化装置,2017,(02):109.
　REN Xiaofang,LIN Juan.Research on OPC technology with fetching system of robot with six DOF[J].Industrial Instrumentation & Automation,2017,(03):109.

备注/Memo

备注/Memo:

收稿日期：2016-08-17作者简介：梁书立（1987），男，硕士，助理研究员，机器学习、自动化控制。

常用功能