Abstract
Attitude detection of cooperative robots can help robots recognize environment, understand tasks, and improve the safety, accuracy and efficiency of robot work. For robots with unknown configuration parameters, their configuration can be estimated; it is convenient for further kinematics and dynamics analysis. For an economical cooperative robot, its kinematic parameters can be corrected by attitude detection. An independent robot attitude detection system can be used as a secondary auxiliary system, and the fault diagnosis system of the robot is composed of the high-precision encoder system of the robot body. This paper studies the neural network control system of cooperative robot based on genetic algorithm. In this paper, the robot is taken as the research object. Aiming at its strong conjunction, non-linearity and multivariable characteristics, the problem of robot motion control based on neural network is mainly discussed. On this basis, the basic genetic algorithm and an improved genetic algorithm called messy are used to optimize the structure of the neural network, so as to better realize the motion control problem of the robot. The results of this study show that: After optimization with messy genetic algorithm, not only the tracking effect is better, but also the number of hidden layer nodes of the network is reduced from 12 to 7. This greatly simplifies the structure of the network and makes the design and training of the network relatively simple.
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Acknowledgements
This study was supported by Grant No. 2018GSF118221 and No. 2019JZZY011101 from the Key Research and Development Program of Shandong Province to Dianmin Sun.
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Liu, A., Zhang, Y., Zhao, H. et al. Neural network control system of cooperative robot based on genetic algorithms. Neural Comput & Applic 33, 8217–8226 (2021). https://doi.org/10.1007/s00521-020-04952-1
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DOI: https://doi.org/10.1007/s00521-020-04952-1