文章基本信息

标题：Design of Multimodal Neural Network Control System for Mechanically Driven Reconfigurable Robot
本地全文：下载
作者：Zhang Youchun ; Zhang Gongyong
期刊名称：Computational Intelligence and Neuroscience
印刷版ISSN：1687-5265
电子版ISSN：1687-5273
出版年度：2022
卷号：2022
DOI：10.1155/2022/2447263
语种：English
出版社：Hindawi Publishing Corporation
摘要：According to the characteristics and division rules of the modules, this paper divides the rotary module, the swing module, and the mobile module. In order to realize the rapid identification of modules, according to the basic principles of module design, the above modules are put into the module library established by Access. According to the modular modeling method, kinematic models are established, respectively. In order to automatically establish the kinematic model of the robot, a unified expression of modules is established. According to the unified expression of the modules, the kinematics of the reconfigurable robot is analyzed. According to the characteristics of the configuration plane, the configuration plane is divided, and the expression form of the position and attitude of the configuration plane is given. Combined with the principle of neural network and multimodal information fusion, a multimodal information fusion model based on long- and short-term memory neural network is established. Aiming at the control problem of mechanically driven reconfigurable robots, a specific long- and short-term memory neural network model is designed, and the long- and short-term memory neural network algorithm is applied to the robot control problem based on multimodal information fusion. The design of the controller and driver of each joint is the basis of the distributed control system. This paper discusses the hardware design of the joint controller and driver and the realization of the position control system and discusses the method of realizing distributed control based on the Modbus protocol of RS485 communication. Through the comprehensive experiment of the configuration, the point control and the continuous path control are carried out to verify the correctness of the theoretical analysis of the system and the reliability of the system hardware and software operation.