基于RBF神经网络的多自由度机械臂控制及仿真分析  

Control Method and Simulation Analysis of Multi-degree-offreedom Manipulator Based on RBF

作　　者：霍英杰[1] HUO Yingjie(Zhangzhou Polytechnic Vocational College,Zhangzhou Fujian 363000,China)

机构地区：[1]漳州理工职业学院,福建漳州363000

出　　处：《保山学院学报》2021年第5期79-83,共5页JOURNAL OF BAOSHAN UNIVERSITY

摘　　要：运用人工神经网络方法能够实现对机械臂组件运动中各部件所需施加的力和力矩的控制,使机械臂准确地到达预定的位置;通过径向基函数人工神经网络技术对机械臂进行运动控制,在Matlab中运用S-函数模块来表示有关的非线性关系的状态空间子模块,进而使用Simulink进行仿真分析。The artificial neural network method can realize the control of the force and moment required by each component in the motion of the mechanical arm assembly,so that the mechanical arm can accurately reach the predetermined position.In this paper,the radial basis function artificial neural network technology is used to control the motion of the manipulator,the S-function module is used in Matlab to represent the state space sub-module of the related nonlinear relationship,and then Simulink is used for simulation analysis.

关 键 词：径向基函数 神经网络 机械臂 S-函数 仿真 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]