Intelligent trajectory control system of robot arm based on bidirectional LSTM neural network
Aiming at the problem that the intelligent trajectory control of the robot arm is easily affected by its uncertainty and ex-ternal disturbance,an intelligent trajectory control system of the robot arm based on bidirectional LSTM neural network is designed to realize real-time control of the trajectory of the robot arm,so that it can quickly respond to environmental changes and perform new tasks.Use the remote control module to input the operation parameters of the manipulator set by the user;The main control unit of the main control module uses the bidirectional LSTM neural network to estimate the uncertain data of the robot arm,and according to the relevant parameters set by the user,combined with the adaptive sliding mode controller,designs the intelligent trajectory compound control law of the robot arm,which is transmitted from the communication board of the main station to the servo module.After the ser-vo module receives the intelligent trajectory compound control law,the servo driver is used to start the DC torque motor and drive the robot arm according to the compound control law to complete the intelligent trajectory control of the robot arm.Experimental results show that the system can effectively complete the intelligent trajectory control of the robot arm,and the controlled trajectory is very close to the set trajectory.After the control,the joint Angle change curve of the manipulator arm is smooth and continuous,which has better intelligent trajectory control effect.
bidirectional LSTMneural networkrobotsmechanical armintelligent trajectorycontrol system
万方数据
维普
