Neural Net Computer Controller for a Six Axis Manipulator

六轴机械手的神经网络计算机控制器

• 批准号: 8960206
• 负责人: Leonard Haynes
• 金额: $ 4.98万
• 依托单位: Intelligent Automation, Inc
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1990
• 资助国家: 美国
• 起止时间: 1990-01-01 至 1990-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=8960206&HistoricalAwards=false
• 关键词: Neural; Net; Computer; Controller; Six

A six legged parallel link manipulator (called a Stewart Platform) has the ability to perform six degree of freedom manipulation, and is mechanically much simpler than conventional serial mechanisms with similar manipulative capability. Despite their mechanical simplicity, such mechanisms have not been exploited except for low accuracy, low speed applications because of the difficulty in performing real-time control of the highly non-linear, highly coupled mechanism. The control problem is exacerbated by the fact that there is no known closed from solution to the forward kinematics of such platforms. This project will develop two cooperating neural nets which together help control a six legged parallel link manipulator in the high speed, high accuracy domain. Each of the two neural nets is itself composed of tow cascaded neural nets. The proposed system is interesting because it solves a problem for which there is no known acceptable solution, and also because there are many important applications which could be cost effectively implemented with a stewart Platform if the control problem could be overcome. The proposed system is also significant because is cascaded organization of neural nets should greatly reduce the training time required for the system to achieve good results.

六腿并联连杆机械手（称为Stewart 平台）有能力执行六度 自由操作，机械上更简单 与传统的串行机制相比， 操纵能力。 尽管他们的机械 简单，这种机制尚未被利用 除了低精度、低速应用，因为 的实时控制的困难， 高度非线性、高度耦合机制。 控制 问题是加剧了这一事实，即没有已知的 封闭从解决方案的正向运动学这样的 平台 该项目将开发两个合作 神经网络共同帮助控制一个六条腿的 高速、高精度并联机械手 域 两个神经网络中的每一个都是由 两个级联的神经网络。 所提出的系统 因为它解决了一个问题， 没有已知的可接受的解决方案，也因为 有许多重要的应用， 有效地实施与斯图尔特平台，如果 控制问题可以克服。 拟议 系统也很重要，因为它是级联组织 的神经网络应该大大减少训练时间 系统需要达到良好的效果。