| 武术飞脚启发作用在采摘机器人智能化设计中的应用 |
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| 引用本文： | 袁志良,古越.武术飞脚启发作用在采摘机器人智能化设计中的应用[J].农机化研究,2022,44(2):249-252. |
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| 作者姓名： | 袁志良 古越 |
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| 作者单位： | 江西警察学院, 南昌 330100 |
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| 基金项目： | 江西省体育局科研项目(2016006)。 |
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| 摘 要： | 为了提高采摘机器人的智能化水平,基于武术飞脚动作的连续性,参考飞脚动作的前馈特征,在智能化控制系统的设计上引入了神经网络前馈算法和PID控制算法。通过对误差的修正和期望与实际输出结果的反馈,提升了机器人的智能化水平和采摘作业动作的精确性,实现了采摘机器人的类人化设计。为了验证该方法的可行性,模仿生菜采摘机器人的作业环境对机器人的性能进行了仿真,结果表明:采用神经网络PID算法可以提高机器人控制系统的精确性,并可加快收敛速度,对提升机器人的智能化水平具有重要的意义。
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| 关 键 词： | 采摘机器人 智能化设计 神经网络算法 PID控制器 误差反馈 武术飞脚 |
Application of the Inspiration of Wushu Flying Feet in Intelligent Design of Picking Robot |
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| Yuan Zhiliang,Gu Yue.Application of the Inspiration of Wushu Flying Feet in Intelligent Design of Picking Robot[J].Journal of Agricultural Mechanization Research,2022,44(2):249-252. |
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| Authors: | Yuan Zhiliang Gu Yue |
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| Institution: | (Jiangxi Police College,Nanchang 330100,China) |
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| Abstract: | In order to improve the intelligent level of the picking robot,it introduced neural network feed forward algorithm and PID control algorithm in the design of intelligent control system based on the continuity of Wushu flying foot action and the feed forward characteristics of flying foot action.It improved the intelligent level of the robot and the accuracy of picking operation action through the correction of error and the feedback of expectation and actual output results.It realized the humanoid design of picking robot.In order to verify the feasibility of the method,it simulated the performance of the robot by imitating the working environment of the lettuce picking robot.The simulation results showed that the neural network PID algorithm can improve the accuracy of the robot control system and accelerate the convergence speed,which is of great significance to improve the intelligent level of the robot. |
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| Keywords: | picking robot intelligent design neural network algorithm PID controller error feedback wushu flying feet |
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