农机化研究Issue(9)：229-233,5.
基于RBF网络的果蔬采摘机器人运动轨迹控制研究
Research on Motion Trajectory Control of Fruit and Vegetable Picking Robot Based on RBF Network
摘要
Abstract
In order to improve the accuracy of robot manipulator movement and improve the efficiency of robot movement, a methodis proposed based on genetic algorithm and RBF neural network .The robot manipulator's movement and the whole trajectory are optimized.In order to verify the design of the picking robot reliability, in the experimental green-house on the robot's picking performance were tested, test items include robot path planning of mobile and manipulator path planning.Through the test, we found that using the RBF neural network algorithm can effectively control of manipu-lator motion in the three-dimensional space, in under the control of the genetic algorithm, the robot can with less amount of calculation using neural network algorithm search to get the optimal path, and the calculation precision is above 99%, for its high accuracy, which provides a valuable reference for the fast computational efficiency and effect of high vegetable production picking robot design.关键词
RBF神经网络/果蔬采摘/遗传算法/轨迹控制/机器人/机械手Key words
RBF neural network/fruit and vegetable picking/genetic algorithm/trajectory control/manipulator分类
农业科技引用本文复制引用
薛亮,樊卫国,汪小志..基于RBF网络的果蔬采摘机器人运动轨迹控制研究[J].农机化研究,2016,(9):229-233,5.基金项目
湖北省自然科学基金项目 （）
