| 农业机器人轨迹优化自动控制研究——基于BP神经网络与计算力矩 |
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| 引用本文： | 袁铸,申一歌.农业机器人轨迹优化自动控制研究——基于BP神经网络与计算力矩[J].农机化研究,2017(6):33-37. |
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| 作者姓名： | 袁铸 申一歌 |
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| 作者单位： | 河南工业职业技术学院,河南南阳,473000 |
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| 基金项目： | 河南省自然科学基金项目(2015 GZC155)；南阳市科技攻关项目(KJGG36) |
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| 摘 要： | 以农业机器人精密轨迹优化自动控制为目标,在优化算法中引入BP神经网络与计算力矩法结合的自动控制器,旨在减少作业过程中的运动误差,提高其工作效率。首先,建立农业机器人数学模型,分析其运动学和动力学原理;然后,设计了农业机器人运动控制系统,引入BP神经网络对不确定动力学因素进行判断,并提出解决该因素的自适应学习法;最后,对该系统运用Mat Lab进行了仿真。试验表明:以BP神经网络与计算力矩法结合的自动控制器可以有效优化机器人运动路径,提高机器人整体作业效率,系统运行稳定、可靠性强,且对外部环境的干扰因素具有较强的自适应学习能力。
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| 关 键 词： | 农业机器人 精密轨迹优化 BP神经网络 计算力矩法 |
Automatic Control of Trajectory Optimization for Agricultural Robot-Based on BP Neural Network and Computational Torque |
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| Yuan Zhu,Shen Yige.Automatic Control of Trajectory Optimization for Agricultural Robot-Based on BP Neural Network and Computational Torque[J].Journal of Agricultural Mechanization Research,2017(6):33-37. |
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| Authors: | Yuan Zhu Shen Yige |
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| Abstract: | In the trajectory optimization of precision agriculture robot , taking automatic control as the goal , it introduced the optimization algorithm combined with BP neural network and the computed torque method of automatic controller , which intended to reduce motion errors during the work and improve the work efficiency .In this paper , it first established mathematical model of agricultural robot , kinematics and dynamics analysis;then, it designed the agricultural robot mo-tion control system by using BP neural network to uncertain dynamics factors to judge , and put forward the solution to the factor of adaptive learning method .Finally the system used MATLAB simulation .Experimental result shows that the com-bined with BP neural network and the computed torque method of automatic controller , which can effectively optimize the robot motion path , and improve the overall operation efficiency of the robot , the system is stable and reliable , and the ex-ternal environment interference factors with strong adaptive ability to learn . |
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| Keywords: | agricultural robot precision trajectory optimization BP neural network computational torque method |
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