DDPG multi-target genetic self-optimization three-axis delta machine platform and method
A multi-objective genetic and machine platform technology, applied in the field of DDPG multi-objective genetic self-optimized three-axis delta machine platform, can solve the problems of reduced precision, irregular movement of the structural frame, unfavorable for parallel robot camera fixation, etc., to avoid data congestion , the effect of reducing the error
Active Publication Date: 2021-02-23
GUANGZHOU UNIVERSITY
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Problems solved by technology
During the movement of the parallel robot powered by the linear motor, the linear motor provides a strong power, so that the moving platform can complete the pick-and-place movement of the door shape at high speed. The movement will cause irregular movement of the structural frame connected to it, which is not conducive to the camera fixation in the parallel robot, and it will also reduce the accuracy of completing the movement such as picking and placing
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[0018] Such as figure 1 As shown, the DDPG multi-objective genetic self-optimization three-axis delta machine platform in this embodiment mainly includes: control computer 1, control single-chip microcomputer 2, linear motor active part 3, linear motor parallel robot frame 4, driven platform 5 and acceleration sensor 6 ;The control single-chip microcomputer is connected with the control computer, the driven platform and the acceleration sensor respectively; the driven platform is connected with the active part of the linear motor and the acceleration sensor respectively; the active part of the linear motor, the driven platform and the acceleration sensor are all set in the linear motor parallel robot frame .
[0019] In this embodiment, the acceleration sensor is composed of a mass block, a damper, an elastic element, a sensitive element, an adjustment circuit and the like. When the acceleration sensor is measuring the acceleration, the external force generated by the externa...
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The invention relates to a DDPG multi-target genetic self-optimization three-axis delta machine platform. The DDPG multi-target genetic self-optimization three-axis delta machine platform mainly comprises control computers, control single-chip microcomputers, linear motor driving parts, a linear motor parallel robot frame, a driven platform and acceleration sensors; the control single-chip microcomputers are connected with the control computers, the driven platform and the acceleration sensors; the driven platform is respectively connected with the linear motor driving part and the acceleration sensors; and the linear motor driving parts, the driven platform and the acceleration sensors are all arranged in the linear motor parallel robot frame. According to the DDPG multi-target genetic self-optimization three-axis delta machine platform and method, the motion state of the motion platform and vibration data of the linear motor parallel robot frame under different parameters are measured through the acceleration sensors, a DDPG algorithm and a multi-target genetic algorithm are introduced, the motion parameter optimal solution for reducing vibration of the parallel robot platform tothe maximum extent is obtained, and then stable motion of the parallel robot platform is controlled.
Description
technical field [0001] The invention relates to the field of robot technology, in particular to a DDPG (Deep Deterministic Policy Gradient) multi-objective genetic self-optimization three-axis delta machine platform and method. Background technique [0002] Although there are various forms of existing mechanical platforms, the delta platform is still in an advantageous position in the robot industry by virtue of its economical and applicable advantages. However, with the improvement of industrial precision requirements, the accuracy and speed of the existing delta platform are gradually difficult to meet the daily industrial needs, such as: simple surgical robots, sorting simple food equipment, sorting live animal seafood industrial lines, sorting fragile Handicraft lines, etc., in the face of these high-precision and high-risk work situations, can only rely on ordinary manual methods. Manual work will not only greatly increase the product cycle line, but also have some unco...
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IPC IPC(8): B25J9/16B25J9/00G06N3/12
CPCB25J9/16B25J9/00B25J9/003G06N3/126
Inventor 黄文恺徐泽峰何梓健卢普伟杨立麒李泽轩
Owner GUANGZHOU UNIVERSITY