In order to improve the accuracy of manipulator operation, it is necessary to install a tactile sensor on the manipulator to obtain tactile information and accurately classify a target. However, with the increase in the uncertainty and complexity of tactile sensing data characteristics, and the continuous development of tactile sensors, typical machine-learning algorithms often cannot solve the problem of target classification of pure tactile data. Here, we propose a new model by combining a convolutional neural network and a residual network, named ResNet10-v1. We optimized the convolutional kernel, hyperparameters, and loss function of the model, and further improved the accuracy of target classification through the K-means clustering method. We verified the feasibility and effectiveness of the proposed method through a large number of experiments. We expect to further improve the generalization ability of this method and provide an important reference for the research in the field of tactile perception classification.
In order to improve the comprehensive performance of energy dispatching between different sites, the optimization research of particle swarm optimization (PSO) algorithm and ant colony optimization (ACO) algorithm is carried out. We proposed a new improved PSO-ACO algorithm based on the idea of hybrid algorithm to solve the problem of poor energy dispatching efficiency between sites. First, the multiobjective performance indicators were introduced to transform the sites’ energy dispatching problem into a multiobjective optimization problem. Second, the vitality factor was introduced into the PSO strategy to solve the local optimal problem, and in the PSO-ACO fusion strategy, the PSO routes were transformed into the ant colony enhancement pheromone to accelerate the accumulation speed of the ACO initial pheromone. Then, the angle guidance function was introduced into the state transition probability of the ACO strategy to improve the global search capability, and a high-quality pheromone update rule was proposed to improve the convergence speed of the algorithm. Finally, simulation experiments were carried out on the improved PSO-ACO algorithm, Min–Max Ant System (MMAS) algorithm, ACO algorithm, PSO algorithm, and PSO update algorithm in a variety of complex site scenarios. The simulation results show that the improved PSO-ACO algorithm can plan a site energy dispatching route with shorter route, less time-consuming, and higher security and realize the comprehensive and global optimization of energy dispatching.
The development of Internet of Things (IoT) technology has enabled intelligent robots to have more sensing and decision-making capabilities, broadening the application areas of robots. Grasping operation is one of the basic tasks of intelligent robots, and vision-based robot grasping technology can enable robots to perform dexterous grasping. Compared with 2D images, 3D point clouds based on objects can generate more reasonable and stable grasping poses. In this paper, we propose a new algorithm structure based on the PointNet network to process object point cloud information. First, we use the T-Net network to align the point cloud to ensure its rotation invariance; then we use a multilayer perceptron to extract point cloud characteristics and use the symmetric function to get global features, while adding the point cloud characteristics attention mechanism to make the network more focused on the object local point cloud. Finally, a grasp quality evaluation network is proposed to evaluate the quality of the generated candidate grasp positions, and the grasp with the highest score is obtained. A grasping dataset is generated based on the YCB dataset to train the proposed network, which achieves excellent classification accuracy. The actual grasping experiments are carried out using the Baxter robot and compared with the existing methods; the proposed method achieves good grasping effect.
Aiming at the problems that the Rapidly-exploring Random Tree (RRT) algorithm has more time-consuming and longer paths in the manipulator motion planning, we propose an improved RRT algorithm based on probabilistic target bias strategy and triangular inequality pruning method. This paper simulates the algorithm from three dynamic environments with different numbers of obstacles. The simulation results show that the proposed improved RRT algorithm can plan a shorter path in less time.
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