| 基于神经网络的机器人碰撞检测系统研究开发 |
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| 引用本文： | 王晓伟,陈一民,沈雄. 基于神经网络的机器人碰撞检测系统研究开发[J]. 计算机应用与软件, 2009, 26(7): 62-65 |
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| 作者姓名： | 王晓伟 陈一民 沈雄 |
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| 作者单位： | 上海大学计算机工程与科学学院,上海,200072;上海大学计算机工程与科学学院,上海,200072;上海大学计算机工程与科学学院,上海,200072 |
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| 摘 要： | 要保证机器人本身具有比较高的健壮性、安全性和实用性,机器人必须具有碰撞检测功能,给出一种采用人工神经网络进行机器人碰撞检测的原理及实现方法.在分析机器人三轴多功能位置卡有关脉冲数据的基础上,总结机器人运动连续性的规律,并建立机器人碰撞检测问题的人工神经网络模型,设计并实现了相关的机器人碰撞检测算法及控制模块,最后介绍使用多线程方法,将碰撞检测模块加入到了机器人控制系统中.
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| 关 键 词： | 碰撞检测 神经网络 BP算法 多线程 |
RESEARCH AND DEVELOPMENT OF ROBOT COLLISION DETECTION SYSTEM BASED ON ARTIFICIAL NEURAL NETWORK |
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| Wang Xiaowei,Chen Yimin,Shen Xiong. RESEARCH AND DEVELOPMENT OF ROBOT COLLISION DETECTION SYSTEM BASED ON ARTIFICIAL NEURAL NETWORK[J]. Computer Applications and Software, 2009, 26(7): 62-65 |
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| Authors: | Wang Xiaowei Chen Yimin Shen Xiong |
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| Affiliation: | School of Computer Engineering and Science;Shanghai University;Shanghai 200072;China |
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| Abstract: | Robot must have its collision detection function to ensure the higher robustness,safety and practicality of itself.In this paper,we introduced the principle and method of a kind of robot collision detection using artificial neural network.Based on the analysis of the pulse data collected from robot triple-axle multi-function control card,we got the law of continuity of robot's movement,and built up the artificial neural network model for robot collision detection,and designed and realized the algorithm and ... |
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| Keywords: | Collision detection Neural network BP algorithm Multi-thread |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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