关键词: 神经元模型, 时间整合, 机械手, 传递模式, 雅可比矩阵

Abstract: For the influence of manipulator joints'velocity and angular velocity on the precision manipulator,the precision motion of manipulator delivery mode based on neuron Temporal Integration Capability (TIC) was presented with inspiration of time and space characteristics of biological neurons.The precision motion of manipulator transmission system and biological neurons in the model were researched,the influence of joint parts on end of manipulator speed and the tissue of neuron model were analyzed.Combining with the working mechanism of neuron model,its space-time characteristics of integrated ability was discussed,the precision motion transfer mode was solved,and the manipulator was deduced.The mathematical model of influencing on manipulator executor speed with joints velocity and angular velocity was deduced,thus the mapping relationship of velocity,angle velocity and end of manipulator speed in three axes direction was obtained.Six degrees of freedom of heavy manipulator were simulated,and the conclusion showed that the influence of speed degree of angular velocity error on terminal speed was reduced by the space-time integration ability of transfer mode,and the effectiveness of the proposed delivery mode was verified.

Key words: neural model, time integration, manipulator, transfer mode, Jacobian matrix