基于FPGA的气动柔性手指的神经网络控制器设计

Design of Flexible Pneumatic Finger's Neural Network Controller Based on FPGA

研究了气动柔性手指智能控制策略的硬件实现,设计了气动柔性手指的神经网络控制器。气动柔性手指神经网络控制器是在已经对气动柔性手指进行运动学和动力学分析的前提下,使用MATLAB对神经网络进行试训,依据训练所得的权值和阈值,在现场可编程门阵列集成环境下,基于超高速集成电路硬件描述语言完成的。该控制器适用于具有复杂智能控制策略且对实时性要求高的多手指控制系统。

This paper focused on the hardware realization of flexible pneumatic finger＇s intelligent control strategy, and a flexible pneumatic finger＇s neural network controller was designed. And the controller based on VHDL（Very High Speed Integration Circuit Hardware Description Language） was designed under the FPGA （Field Programmable Gates Array） integration environment with the values gained from the train of the neural network using MATLAB. This controller is fit to realize intelligent control strategy on real-time multi finger control system.