农机化研究2024，Vol.46Issue(3)：42-46,5.
基于卷积神经网络的采摘机械臂无碰撞运动规划研究
Research on Collision Free Motion Planning of Picking Manipulator Based on Convolution Neural Network
摘要
Abstract
It firstly introduces the basic structure and working principle of convolutional neural network,establishes the motion model of picking manipulator based on DH parameter method,and designs a set of collision free motion planning algorithm of picking manipulator,which can realize the accurate control of picking manipulator.Matlab simulation test shows that the picking manipulator can move accurately from the starting point under the driving control of the system.To the target point,the trajectory is relatively smooth,and it can avoid obstacles with the optimal arc path.The optimization effect is obvious,which can meet the operation requirements of the picking robot,which proves the stability and reliabili-ty of the algorithm.关键词
卷积神经网络/DH参数法/采摘机械臂/运动规划Key words
convolution neural network/DH parameter method/picking manipulator/motion planning分类
农业科技引用本文复制引用
郭仓库..基于卷积神经网络的采摘机械臂无碰撞运动规划研究[J].农机化研究,2024,46(3):42-46,5.基金项目
河南省科技厅科技攻关计划项目(172102310761) （172102310761）
河南省高等教育教学改革研究与实践项目(2019SJGLX640) （2019SJGLX640）
