Name
Title | ||
|---|---|---|
A Mapping Approach of Virtual-Real UR10 Twins Based on Long Short-Term Memory Neural Net |
Abstract | ||
|---|---|---|
Cyber-physical system integrates physical entity and its virtual model, which facilitates intelligent manufacturing a lot. Due to the geometric and non-geometric factors, transmission delay between actual and virtual environment, errors exist between desired position and actual position in real-time movement. Thus the accuracy and efficiency need to be improved. In this paper, a mapping approach of the actual UR10 robot and its virtual model based on long short-term memory neural network is developed to implement the synchronization of the virtual-real UR10 twins' behaviors in cyber-physical system. The virtual model can reflect and control the behaviors of UR10 in real time and vice versa. This method is based on a time recursive structure thus takes the temporal property of trajectory points into account. A prototype system is developed to validate its effectiveness. Experimental validation is conducted to compare the LSTM based calibration method with existing kinematic methods and multilayer perceptron neural net based methods. As demonstrated in the experiment results, the real-time mapping model of the virtual-real UR1O twins' behaviors can be obtained. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/CSCWD.2019.8791879 | 2019 IEEE 23rd International Conference on Computer Supported Cooperative Work in Design (CSCWD) |
Keywords | DocType | ISBN |
cyber-physical system,joint robot,long short-term memory,neural network | Conference | 978-1-7281-0351-8 |
Citations | PageRank | References |
0 | 0.34 | 1 |
Authors | ||
7 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Wenzheng Liu | 1 | 1 | 2.04 |
| Jiaxin Zhao | 2 | 0 | 1.69 |
| Lipin Shi | 3 | 0 | 0.34 |
| Nan Xu | 4 | 11 | 5.44 |
| Feng Liu | 5 | 4 | 8.12 |
| Li Fei | 6 | 0 | 6.76 |
| Heming Zhang | 7 | 97 | 28.48 |