Neural network control system of cooperative robot based on genetic algorithms

doi:10.1007/s00521-020-04952-1

	Neural network control system of cooperative robot based on genetic algorithms
	Liu, Aiqin 1; Zhang, Yuezhong 2; Zhao, Honghua 3; Wang, Shi 4; Sun, Dianmin 5,6
	2020-05-04
发表期刊	NEURAL COMPUTING & APPLICATIONS
ISSN	0941-0643
页码	10
摘要	Attitude detection of cooperative robots can help robots recognize environment, understand tasks, and improve the safety, accuracy and efficiency of robot work. For robots with unknown configuration parameters, their configuration can be estimated; it is convenient for further kinematics and dynamics analysis. For an economical cooperative robot, its kinematic parameters can be corrected by attitude detection. An independent robot attitude detection system can be used as a secondary auxiliary system, and the fault diagnosis system of the robot is composed of the high-precision encoder system of the robot body. This paper studies the neural network control system of cooperative robot based on genetic algorithm. In this paper, the robot is taken as the research object. Aiming at its strong conjunction, non-linearity and multivariable characteristics, the problem of robot motion control based on neural network is mainly discussed. On this basis, the basic genetic algorithm and an improved genetic algorithm called messy are used to optimize the structure of the neural network, so as to better realize the motion control problem of the robot. The results of this study show that: After optimization with messy genetic algorithm, not only the tracking effect is better, but also the number of hidden layer nodes of the network is reduced from 12 to 7. This greatly simplifies the structure of the network and makes the design and training of the network relatively simple.
关键词	Genetic algorithm Network control system Cooperative robot Neural network
DOI	10.1007/s00521-020-04952-1
收录类别	SCI
语种	英语
资助项目	Key Research and Development Program of Shandong Province[2018GSF118221] ; Key Research and Development Program of Shandong Province[2019JZZY011101]
WOS研究方向	Computer Science
WOS类目	Computer Science, Artificial Intelligence
WOS记录号	WOS:000530244200002
出版者	SPRINGER LONDON LTD
引用统计	被引频次：6[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://119.78.100.204/handle/2XEOYT63/15470
专题	中国科学院计算技术研究所期刊论文_英文
通讯作者	Sun, Dianmin
作者单位	1.Qilu Normal Univ, Sch Informat Sci & Engn, Jinan 250013, Shandong, Peoples R China 2.Shandong First Med Univ, Dept Ultrasound, Shandong Prov Hosp, Jinan 250117, Shandong, Peoples R China 3.Jinan Univ, Sch Mech Engn, Jinan 250022, Shandong, Peoples R China 4.Chinese Acad Sci, Inst Comp Technol, Key Lab Intelligent Informat Proc, Beijing, Peoples R China 5.Shandong First Med Univ, Shandong Canc Hosp & Inst, Dept Thorac Surg, Jinan 250117, Shandong, Peoples R China 6.Shandong Acad Med Sci, Jinan 250117, Shandong, Peoples R China
推荐引用方式 GB/T 7714	Liu, Aiqin,Zhang, Yuezhong,Zhao, Honghua,et al. Neural network control system of cooperative robot based on genetic algorithms[J]. NEURAL COMPUTING & APPLICATIONS,2020:10.
APA	Liu, Aiqin,Zhang, Yuezhong,Zhao, Honghua,Wang, Shi,&Sun, Dianmin.(2020).Neural network control system of cooperative robot based on genetic algorithms.NEURAL COMPUTING & APPLICATIONS,10.
MLA	Liu, Aiqin,et al."Neural network control system of cooperative robot based on genetic algorithms".NEURAL COMPUTING & APPLICATIONS (2020):10.