基于Labview的舵机驱动爬壁机器人CPG神经网络运动控制的实现研究

Labview Based Realization of Motion Control for Steering Engine Driven Wall-climbing Robot with CPG Neural Network

摘要: 针对舵机驱动爬壁机器人的机构特点，提出一种用Labview实现舵机驱动爬壁机器人CPG神经网络运动控制的方法．首先，基于仿生运动控制的概念构建出舵机驱动爬壁机器人神经网络运动控制模型．然后，将机器人的平面自由运动分解成直线运动和转弯运动的组合，并结合CPG神经网络信号波形特点，完成机器人相应的实际运动控制信号的生成与输出．最后，通过机器人平面运动控制的实验研究，验证了所提控制方法的有效性．

Abstract: According to the mechanical characteristics of steering engine driven wall-climbing robot,a CPG(central pattern generator) neural network motion control method based on Labview is proposed for steering engine driven wall-climbing robot.Firstly,with the concept of bionic motion control,the CPG neural network model of motion control is constructed for steering engine driven wall-climbing robot.Then the robot’s free motion on plane is divided into a combination of linear motion and turning motion.Based on the waveform characteristics of the CPG neural network,the corresponding control signals for actual motion are generated and output.Finally,the validity of the proposed method is proved with the robot plane motion control experiment.