摘要
为了研究助老助残机械手的轨迹规划,在MATLAB环境下,分析机械手的正运动学问题,并建立了数学模型,同时使用蒙特卡洛法仿真出工作空间。在求解逆运动学问题时,运用广义回归神经神经网络求逆解,通过数学模型验证了逆解的正确性。在MATLAB中,对该机械手的轨迹规划进行仿真,通过仿真分析出机械手的工作状态。为日后助老助残机械手的性能优化提供了重要的依据。
For the purpose of making trajectory plan research on the manipulator of assisting elder and disabled.In the MATLAB environment,the kinematics of the manipulator is analyzed and the mathematical model is established.Monte Carlo method is used to simulate the working space.Using generalized regression neural network to solve inverse solution.The inverse solution is verified by the mathematical model.The trajectory planning of the manipulator of assisting elder and disabled is simulated,and the working state of the manipulator is analyzed by simulation.Which will provide an important basis for the performance optimization of the manipulator of assisting elder and disabled.
作者
张利
高波
贾浩文
吕学义
Zhang Li;Gao Bo;Jia Hao-wen;Lv Xue-yi(College of Electrical Engineering and Automation Shandong University of Science and Technology,Shandong Qingdao 266590)
出处
《电子质量》
2017年第5期5-10,共6页
Electronics Quality
基金
国家教委博士点基金"用于护理机械手控制的BCI关键技术研究"(20133718110013)
山东省教育厅研究生创新计划项目"结合科研实践促研究生发明专利申报"(SDYY14088)
山东省重点研发计划项目"智能上假肢产品样机研究"(2013GSF11858)
关键词
轨迹规划
MATLAB
蒙特卡洛
广义回归神经网络
trajectory planning
MATLAB
monte carlo method
generalized regression neural networ
