Sensorless External Force Detection Method for Humanoid Robot Arm based on BP Neural Network

2019 ◽  
Author(s):  
Guoyu Zuo ◽  
Yongkang Qiu ◽  
Yuelei Liu ◽  
Xiangsheng Huang
Keyword(s):  
Neural Network ◽  
External Force ◽  
Bp Neural Network ◽  
Humanoid Robot ◽  
Detection Method ◽  
Robot Arm ◽  
Force Detection ◽  
External Force Detection

Sensorless External Force Detection Method for Robot Arm Based on Error Compensation Using BP Neural Network

2019 ◽  
Vol 16 (05) ◽  
pp. 1950024
Author(s):  
Guoyu Zuo ◽  
Yongkang Qiu ◽  
Yuelei Liu
Keyword(s):  
Neural Network ◽  
Real Time ◽  
External Force ◽  
Humanoid Robot ◽  
Detection Method ◽  
Joint Torque ◽  
Robot Arm ◽  
Force Detection ◽  
Detection Model ◽  
External Force Detection

This paper proposes an external force detection method for humanoid robot arm without using joint torque sensors, which can detect the external force of the joint space in real time during the operation of the robot. We first analyzed the structure of the humanoid robot arm we designed, and then established the external force detection model of the robot arm based on robot dynamics and motor dynamics. Subsequently, analyses were conducted on the error of the detection model and the dynamic model error of the robot arm is compensated by using the artificial neural network method to obtain more accurate external force value for the robot arm. In experiment, the accuracy test and the collision test were performed on the detected extern forces of the robot arm. The results show that the method can effectively improve the detection accuracy of the robot arm, and the robot arm can realize the real-time collision detection during its static and running states, which can ensure the safe operation of the robot.

scholarly journals A BP Neural Network-Based Communication Blind Signal Detection Method With Cyber-Physical-Social Systems

IEEE Access ◽  
2018 ◽  
Vol 6 ◽  
pp. 43920-43935 ◽  
Author(s):  
Xin Liu ◽  
Yanju Zhou ◽  
Zongrun Wang ◽  
Xiaohong Chen
Keyword(s):  
Neural Network ◽  
Signal Detection ◽  
Bp Neural Network ◽  
Detection Method ◽  
Social Systems ◽  
Blind Signal

Detection Method of Laser Gyroscope Cavity Adjustment Based on Momentum BP Neural Network

2012 ◽  
Vol 39 (4) ◽  
pp. 0402007 ◽  
Author(s):  
马立 Ma Li ◽  
徐次雄 Xu Cixiong ◽  
欧阳航空 Ouyang Hangkong ◽  
荣伟彬 Rong Weibin ◽  
孙立宁 Sun Lining
Keyword(s):  
Neural Network ◽  
Bp Neural Network ◽  
Detection Method ◽  
Laser Gyroscope
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