神经网络α阶逆系统方法在开放式机器人控制器的应用  

Implement of ANN α th-order Inverse System Method on Open Robot Controller

作　　者：胡广[1] 王勤[1] 孟正大[1] 

机构地区：[1]东南大学自动控制系,江苏南京210096

出　　处：《自动化与仪表》2005年第5期5-9,共5页Automation & Instrumentation

基　　金：江苏省"十五"科技攻关项目(BE2002031)

摘　　要：开放式机器人控制器的研究正成为机器人技术研究领域的热点。开放式机器人控制器除了硬件和软件上是开放的,还必须能作为一个平台,对机器人的相关算法进行研究和改进。在介绍本实验室开发的开放式机器人控制器的基础上,成功地将神经网络α阶逆系统方法作为机器人位置伺服算法应用于实际,取得了良好的控制效果。工程试验证明神经网络α阶逆系统方法是一种有前途的方法,还说明这套机器人控制器是“开放”的。It is a focus on the research of open controller in the field of robot techniques. Besides the opening in hardware and software, the controller needs to serve as a platform where relative algorithms of robot can be studied and improved. The open robot controller that has been developed in the lab is introduced firstly, Secondly ANN α th-order inverse system method serving as the servo algorithm for robot location is implemented successfully and the controlling result is very well, It is proved in experiments that the ANN α th-order inverse method is promising and the robot controller is open.

关 键 词：机器人 开放式机器人 神经网络 逆系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP183[自动化与计算机技术—控制科学与工程]