ddpg multi-objective genetic self-optimization three-axis delta machine platform and method

Abstract

The invention relates to a DDPG multi-objective genetic self-optimizing three-axis delta machine platform, which mainly includes: a control computer, a control single-chip microcomputer, an active part of a linear motor, a linear motor parallel robot frame, a driven platform and an acceleration sensor; The driven platform is connected with the acceleration sensor; the driven platform is respectively connected with the active part of the linear motor and the acceleration sensor; the active part of the linear motor, the driven platform and the acceleration sensor are all arranged in the linear motor parallel robot frame. The invention measures the motion state of the motion platform under different parameters and the frame vibration data of the linear motor parallel robot through the acceleration sensor, and uses the DDPG algorithm and the multi-objective genetic algorithm to obtain the optimal solution of the motion parameters that maximize the reduction of the vibration of the parallel machine platform, and then control the parallel robot. Smooth movement of the machine platform.

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...

AI Technical Summary

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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