[1]曾庆军,宋爱国,黄惟一.基于主动时延神经网络的从机械手碰撞研究[J].东南大学学报(自然科学版),1999,29(1):25-29.[doi:10.3969/j.issn.1001-0505.1999.01.005]
 Zeng Qingjun,Song Aiguo,Huang Weiyi.Research on Slave Manipulator Collision Based on Active Time Delay Neural Networks[J].Journal of Southeast University (Natural Science Edition),1999,29(1):25-29.[doi:10.3969/j.issn.1001-0505.1999.01.005]
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基于主动时延神经网络的从机械手碰撞研究()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
29
期数:
1999年第1期
页码:
25-29
栏目:
自动化
出版日期:
1999-01-20

文章信息/Info

Title:
Research on Slave Manipulator Collision Based on Active Time Delay Neural Networks
作者:
曾庆军1 宋爱国2 黄惟一2
1 华东船舶工业学院电子与信息系,镇江 212003)(2 东南大学仪器科学与工程系,南京 210096
Author(s):
Zeng Qingjun1 Song Aiguo2 Huang Weiyi2
1 Department of Electronic and Information Engineering,East China Shipbuilding Institute,Zhenjiang 212003
2 Department of Instrument Science and Engineering,Southeast University,Nanjing 210096
关键词:
力觉临场感 主动时延神经网络 从机械手 碰撞
Keywords:
force telepresence active time delay neural networks slave manipulator collision
分类号:
TP872.3
DOI:
10.3969/j.issn.1001-0505.1999.01.005
摘要:
提出了一种基于主动时延神经网络的遥控机械手碰撞感知和控制方法,该方法可对碰撞进行预测感知和补偿控制. 仿真实验表明了这种方法的有效性.
Abstract:
A method for the sensing and control of tele-manipulators collision based on active time delay neural networks is proposed,which can predict and compensate the collision control. The simulation experiment result indicates the effectiveness of the method.

参考文献/References:

[1] 宋爱国.力觉临场感的理论与实验研究:[学位论文].南京:东南大学,1996
[2] Hannaford B,Anderson R.Experimental and simulation studies of hard contact in force reflection teleoperation.In:Proc of IEEE Int Conf on Rob and Auto,Scottsdale,AZ,1988.584~589
[3] Hogan N.Stable execution of contact tasks using impedance control.In:Proc of IEEE Int Conf on Rob and Auto,Pasadena,CA,1987.1047~1053
[4] 王伟.人工神经网络原理.北京:北京航空航天大学出版社,1995.52~76
[5] 曾庆军.力觉临场感和力觉虚拟现实的理论与实验研究:[学位论文].南京:东南大学,1997
[6] Shoji Y,Inaba M.Stable contact force of a link manipulator with collision phenomena.IEEE Workshop on Int Rob and Sys,1990.501~507

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备注/Memo

备注/Memo:
基金项目:国家863计划智能机器人主题资助项目(863-512-9805-09),国家自然科学基金资助项目(69705006).
第一作者:男,1969年生,博士,讲师.
更新日期/Last Update: 1999-01-20