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基于ai深度學(xué)習的機器人碰撞預估計控制器設計
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陜西郵電職業(yè)技術(shù)學(xué)院

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Design of robot collision pre estimation controller based on ai depth learning
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    摘要:

    機器人運動(dòng)過(guò)程中與外部障礙物之間容易發(fā)生碰撞,當碰撞作用力過(guò)大時(shí)會(huì )造成機器零件損壞的問(wèn)題,為解決這一問(wèn)題,設計基于ai深度學(xué)習的機器人碰撞預估計控制器。建立人機交互電路與串口通信電路,將伺服電機設備、運動(dòng)控制器、PC感應裝置分別接入既定作用區域內,完成預估計控制器的整體應用結構設計。以PyTorch深度學(xué)習框架為基礎,定義激活函數,再根據預估計參數的實(shí)際取值范圍,實(shí)現對目標機器人對象的精準檢測。按照力矩控制條件表達式,確定碰撞行為的表現強度,完成對機器人運動(dòng)路徑的規劃,聯(lián)合相關(guān)應用設備,實(shí)現基于ai深度學(xué)習的機器人碰撞預估計控制器設計。實(shí)驗結果表明,ai深度學(xué)習算法作用下,機器人與障礙物碰撞部位的接觸面積不會(huì )超過(guò)0.25m2,由碰撞行為導致的外部作用力相對較小,不會(huì )造成嚴重的機器零件損壞問(wèn)題。

    Abstract:

    It is easy to collide with external obstacles in the process of robot movement. when the collision force is too large, it will cause damage to machine parts. to solve this problem, a robot collision pre estimation controller based on ai depth learning is designed. The human-computer interaction circuit and serial communication circuit are established. The servo motor equipment, motion controller and PC induction device are respectively connected to the given action area to complete the overall application structure design of the pre estimation controller. Based on the PyTorch depth learning framework, the activation function is defined, and then the accurate detection of the target robot object is realized according to the actual value range of the pre estimated parameters. According to the torque control condition expression, the performance strength of the collision behavior is determined, the robot motion path planning is completed, and the robot collision pre estimation controller design based on ai depth learning is realized by combining relevant application equipment. The experimental results show that under the action of ai depth learning algorithm, the contact area of the collision part between the robot and the obstacle will not exceed 0.25m2, and the external force caused by the collision behavior is relatively small, which will not cause serious damage to machine parts.

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王敏.基于ai深度學(xué)習的機器人碰撞預估計控制器設計計算機測量與控制[J].,2023,31(5):160-165.

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歷史
  • 收稿日期:2022-12-15
  • 最后修改日期:2023-01-17
  • 錄用日期:2023-01-18
  • 在線(xiàn)發(fā)布日期: 2023-05-19
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