摘要
并联机器人力控制是并联机器人研究的一个热点和难点,引起了许多学者的关注,并取得了一定的成果。多数使用了传统的力控制研究方法。该文中,作者将神经网络引入并联机器人的力控制中,并介绍了一种改进型BP神经网络,以及其学习算法和网络的训练过程,并结合实际并联机器人6-SPS并联机器人,设计出基于改进型BP神经网络的并联机器人自适应力控制器,并进行了仿真和实验研究,通过研究表明所设计的控制器是可行和有效的.
<Abstrcat>The force control of the parallel robot is a hot and hard topic in the research field of parallel robot.There are a lot of researchers focus attention on the topic and have obtained some good results.But they all researched this topic based on the traditional method.In this paper ,the author introduces a neural network into the force control of pallel robot,a kind of improved neural network and analyzes its learning algorithm.We then designed an adaptive force controller for the actual parallel robots-6sps parallel robot based on the neural network mentioned above.Simulation and experiment both prove that the controller designed is feasible and effective.
出处
《计算机仿真》
CSCD
2005年第5期199-201,共3页
Computer Simulation
