基于神经网络控制器的机器人系统作动器控制系统建模

2021 IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering (ElConRus) Pub Date : 2021-01-26 DOI:10.1109/ElConRus51938.2021.9396654

K. A. Porokhnenko, M. P. Belov

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引用次数: 0

摘要

操作机器人是一个复杂的多维系统。机器人的控制系统与其他复杂生产机制的控制系统有许多不同之处。这是由于大量的单独控制的机械轴。为了解决这些问题，除了获得机器人的动力学模型外，还需要根据该模型确定机械手的控制律，从而保证所需的质量。为了得到一个简单有效的机器人控制规律，提出了分析各种类型的调节器及其组合的能力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Modeling a Control System for Actuator of Mechanisms of a Robotic System Based on a Neural Network Controller

The manipulation robot is a complex multidimensional system. Control systems for robots have a number of differences from control systems for other complex production mechanisms. This is due to a large number of separately controlled mechanical axes. To solve these problems, in addition to obtaining a dynamic model of the robot, it is necessary to determine the manipulator control law based on this model, which ensures the required quality. It is proposed to analyze the capabilities of various types of regulators and their combinations in order to obtain a simple and effective law of control of a robot.

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来源期刊

2021 IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering (ElConRus)

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