Алгоритм машинного обучения системы управления антропоморфными манипуляторами

В. И. Петренко, Ф. Б. Тебуева, М. М. Гурчинский, Н. Ю. Свистунов, А. С. Павлов

Аннотация


Предложен алгоритм обучения системы управления двумя антропоморфными манипуляторами с 7 степенями подвижности, имеющими пересекающиеся рабочие области. В основе алгоритма лежит технология глубокого обучения с подкреплением искусственной нейронной сети (ИНС). Также описана практическая реализация системы управления манипуляторами на основе ИНС, позволяющая избегать столкновений и достигающая средней точности воспроизведения целевых положений схватов манипуляторов в 98,3%. Полученные результаты свидетельствуют о перспективности применения предложенного метода для разработки систем управления антропоморфными манипуляторами на основе глубокого машинного обучения с подкреплением.

Ключевые слова


антропоморфный манипулятор; кинематика; искусственная нейронная сеть; машинное обучение

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Литература


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(c) 2021 В. И. Петренко, Ф. Б. Тебуева, М. М. Гурчинский, Н. Ю. Свистунов, А. С. Павлов