| 水轮机修复机器人修复区域建模与仿真 |
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| 引用本文： | 朱捷,张丽娟,刘龙,杜广环. 水轮机修复机器人修复区域建模与仿真[J]. 科技导报(北京), 2009, 27(7) |
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| 作者姓名： | 朱捷 张丽娟 刘龙 杜广环 |
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| 作者单位： | 黑龙江科技学院数力系,哈尔滨,150027;黑龙江科技学院数力系,哈尔滨,150027;黑龙江科技学院数力系,哈尔滨,150027;黑龙江科技学院数力系,哈尔滨,150027 |
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| 基金项目： | 黑龙江省教育厅科学技术研究项目，科技部创新基金 |
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| 摘 要： | 提出基于Matlab-CAMC实现水轮机修复机器人工作空间修复区域仿真的方法.构造了一种3层小脑神经网络(CMAC).以机器人示教得到的修复区域位置信息为CMAC网络输入空间的输入向量,用扩展B样条函数作为CMAC非线性映射的基函数,用合并单变量函数exp()训练CMAC,用Matlab语言工具箱和编辑器进行程序设计并仿真,为机器人的运动规划、轨迹规划和工艺参数规划提供了依据.
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| 关 键 词： | 水轮机修复机器人 修复区域 小脑神经网络 建模 |
Modeling and Simulation of Repairing Area of Robot for Repairing Hydraulic Turbines |
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| ZHU Jie,ZHANG Lijuan,LIU Long,DU Guanghuan. Modeling and Simulation of Repairing Area of Robot for Repairing Hydraulic Turbines[J]. Science & Technology Review, 2009, 27(7) |
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| Authors: | ZHU Jie ZHANG Lijuan LIU Long DU Guanghuan |
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| Affiliation: | ZHU Jie,ZHANG Lijuan,LIU Long,DU Guanghuan Department of Mathematics , Mechanics,Heilongjiang Institute of Science , Technology,Harbin 150027,China |
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| Abstract: | This paper presents a method based on Matlab-CAMC for simulation of repairing area in the work space of robot for repairing hydraulic turbines.A three-layer CMAC is built using the position information of a repairing area obtained from robot teaching as the input vector of CMAC network input space,and using the extended B sample bar function as the basic function of CMAC nonlinear map,and CMAC is trained with a united single variable function exp(),to design and simulate the program with Matlab language too... |
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| Keywords: | robot for repairing hydraulic turbines repairing area CMAC modeling |
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