Research of the Robot Arm Gravity Compensation based on the Genetic Algorithm for Optimization of Neural Network
By adopting a genetic algorithm for optimization of neural network,the gravity compensation for robot arm is researched.Firstly,through the basic knowledge of mechanics and D-H parameter to set up robot kinematics model,the theoretical computation formula of the gravity item of each joint torque in...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2017-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.02.008 |
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| _version_ | 1841547461629313024 |
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| author | Yang Yuan Cao Tong Liu Da |
| author_facet | Yang Yuan Cao Tong Liu Da |
| author_sort | Yang Yuan |
| collection | DOAJ |
| description | By adopting a genetic algorithm for optimization of neural network,the gravity compensation for robot arm is researched.Firstly,through the basic knowledge of mechanics and D-H parameter to set up robot kinematics model,the theoretical computation formula of the gravity item of each joint torque in robot arm is got.Secondly,in the Solid Works simulation software,the simulation value of the gravity item in some certain pose got,thus the correctness of the theoretical computation formula is verified.Finally,the predicted value of the gravity item by genetic algorithm for optimization of neural network is obtained.Experimental results show that the predicted value of gravity items of robot arm learnt with this method is basically conforming with the theoretical value.Consequently,the work load of calculation for the gravity items of robot arm is effectively reduced.Furthermore,this method provide a possible way for the real-time control. |
| format | Article |
| id | doaj-art-03ed8fe391694118b14c44e31ecf5df2 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2017-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-03ed8fe391694118b14c44e31ecf5df22025-01-10T14:36:53ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392017-01-0141374029928587Research of the Robot Arm Gravity Compensation based on the Genetic Algorithm for Optimization of Neural NetworkYang YuanCao TongLiu DaBy adopting a genetic algorithm for optimization of neural network,the gravity compensation for robot arm is researched.Firstly,through the basic knowledge of mechanics and D-H parameter to set up robot kinematics model,the theoretical computation formula of the gravity item of each joint torque in robot arm is got.Secondly,in the Solid Works simulation software,the simulation value of the gravity item in some certain pose got,thus the correctness of the theoretical computation formula is verified.Finally,the predicted value of the gravity item by genetic algorithm for optimization of neural network is obtained.Experimental results show that the predicted value of gravity items of robot arm learnt with this method is basically conforming with the theoretical value.Consequently,the work load of calculation for the gravity items of robot arm is effectively reduced.Furthermore,this method provide a possible way for the real-time control.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.02.008Robot armD-H parameterGravity compensationNeural networkGenetic algorithm |
| spellingShingle | Yang Yuan Cao Tong Liu Da Research of the Robot Arm Gravity Compensation based on the Genetic Algorithm for Optimization of Neural Network Jixie chuandong Robot arm D-H parameter Gravity compensation Neural network Genetic algorithm |
| title | Research of the Robot Arm Gravity Compensation based on the Genetic Algorithm for Optimization of Neural Network |
| title_full | Research of the Robot Arm Gravity Compensation based on the Genetic Algorithm for Optimization of Neural Network |
| title_fullStr | Research of the Robot Arm Gravity Compensation based on the Genetic Algorithm for Optimization of Neural Network |
| title_full_unstemmed | Research of the Robot Arm Gravity Compensation based on the Genetic Algorithm for Optimization of Neural Network |
| title_short | Research of the Robot Arm Gravity Compensation based on the Genetic Algorithm for Optimization of Neural Network |
| title_sort | research of the robot arm gravity compensation based on the genetic algorithm for optimization of neural network |
| topic | Robot arm D-H parameter Gravity compensation Neural network Genetic algorithm |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.02.008 |
| work_keys_str_mv | AT yangyuan researchoftherobotarmgravitycompensationbasedonthegeneticalgorithmforoptimizationofneuralnetwork AT caotong researchoftherobotarmgravitycompensationbasedonthegeneticalgorithmforoptimizationofneuralnetwork AT liuda researchoftherobotarmgravitycompensationbasedonthegeneticalgorithmforoptimizationofneuralnetwork |