Research on the dynamic compensation based on genetic wavelet neural networks for the robot wrist force sensor

2010 ◽  
Author(s):  
Yu A-long
Keyword(s):  
Neural Networks ◽  
Force Sensor ◽  
Wavelet Neural Networks ◽  
Dynamic Compensation ◽  
Robot Wrist

The Robot Wrist Sensor Dynamic Mode Building Method Based on Genetic Wavelet Neural Networks

2013 ◽  
Vol 455 ◽  
pp. 389-394
Author(s):  
A Long Yu ◽  
Jin Qiao Dai
Keyword(s):  
Genetic Algorithm ◽  
Neural Networks ◽  
Dynamic Model ◽  
Force Sensor ◽  
Dynamic Mode ◽  
Improved Genetic Algorithm ◽  
Wavelet Neural Networks ◽  
Robot Wrist ◽  
New Type ◽  
Set Up

A kind of new dynamic modeling method is presented based on improved genetic algorithm (IGA) and wavelet neural networks (WNN) and the principle of algorithm is introduced for a new type robot wrist force sensor. The dynamic model of the wrist force sensor is set up according to data of the dynamic calibration, where the structure and parameters of wavelet neural networks of the dynamic model are optimized by genetic algorithm. The results show that the proposed method can overcome the shortcomings of easy convergence to the local minimum points of BP algorithm, and the network complexity, the convergence and the generalization ability are well compromised and the training speed and precision of model are increased.

scholarly journals Dynamic Compensation for Two-Axis Robot Wrist Force Sensors

2013 ◽  
Vol 2013 ◽  
pp. 1-5 ◽  
Author(s):  
Junqing Ma ◽  
Aiguo Song ◽  
Dongcheng Pan
Keyword(s):  
Force Sensor ◽  
Compensation Method ◽  
Step Response ◽  
Order System ◽  
Force Sensors ◽  
Dynamic Compensation ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Low Pass ◽  
Robot Wrist

To improve the dynamic characteristic of two-axis force sensors, a dynamic compensation method is proposed. The two-axis force sensor system is assumed to be a first-order system. The operation frequency of the system is expanded by a digital filter with backward difference network. To filter high-frequency noises, a low-pass filter is added after the dynamic compensation network. To avoid overcompensation, parameters of the proposed dynamic compensation method are defined by trial and error. Step response methods are utilized in dynamic calibration experiments. Compared to experiment data without compensation, the response time of the dynamic compensated data is reduced by 30%~40%. Experiments results demonstrate the effectiveness of our method.

Polymer optical fiber-embedded force sensor system for assistive devices with dynamic compensation

2021 ◽  
pp. 1-1
Author(s):  
Leticia Avellar ◽  
Gabriel Delgado ◽  
Eduardo Rocon ◽  
Carlos Marques ◽  
Anselmo Frizera ◽  
...  
Keyword(s):  
Optical Fiber ◽  
Force Sensor ◽  
Assistive Devices ◽  
Sensor System ◽  
Polymer Optical Fiber ◽  
Dynamic Compensation
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