摘要
以AS-UII教学机器人为研究对象,提出了一种间接测量机器人转角的方法。该方法利用RBF神经网络建立模型,以多组电机速度、运行时间为样本,解决了机器人转角与电机速度、运行时间的关系问题。实验证明,该方法是有效可行的。因此,可以根据电机的速度、时间来间接确定机器人的转角,为机器人的路径规划提供角度参数。
Take the AS-UII teaching robot as the target of study, a kind of method for indirect measurement on the turning angle of robot was brought forward. This method utilized RBF neural network to establish the model, solved the problems on relationships between the turning angle of robot and the speed, running time of electric motor by taking the speed and running time of multi grouped motors as the stylebook. The experiment testified that this method was effective and feasible. Therefore, it is possible to determine indirectly the turning angle of robot according to the speed, running time of motor, and provides the angle parameters for the path planning of robot.
出处
《机械设计》
CSCD
北大核心
2008年第1期10-11,共2页
Journal of Machine Design
关键词
RBF神经网络
机器人
电机
转角
RBF neural network
robot
electric motor
turning angle
