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Direction Perception of Axial and Radial Impact for Pneumatic Muscles Based on Pressure Response
Author(s): 
Pages: 20-24
Year: Issue:  5
Journal: Measurement & Control Technology

Keyword:  pneumatic musclepressure responseprincipal component analysisback-propagation neural networkperception;
Abstract: 当气动肌肉与环境发生碰撞时,冲击会引起内腔压力变化.首先分析了轴向和径向冲击下内腔压力波的传播;采用主成分分析法降低压力响应信号的特征维数,并将主成分作为BP神经网络的输入;然后搭建实验平台,测试分析了不同负载、内压下、轴向和径向冲击下压力响应曲线;基于测试样本对3层BP神经网络进行轴向和径向冲击方向感知训练.实测表明径向冲击下压力响应比轴向剧烈,BP神经网络方向感知精度高于95%.
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