基于参数优化的机器人花键装配偏角感知识别方法

支乐威,陈教料,王佳才,胥芳,张立彬

Deflection angle perception and recognition method of robot spline assembly based on parameter optimization

Le-wei ZHI,Jiao-liao CHEN,Jia-cai WANG,Fang XU,Li-bin ZHANG

表 2 不同分类器性能对比

Tab.2 Performance comparison of different classifiers

分类器 A0/% T/s η ELM，X轴 90.33 0.008 — ELM，Y轴 91.26 0.007 — DE-ELM，X轴 93.53 0.032 67.3 DE-ELM，Y轴 94.61 0.047 77.2 PSO-ELM，X轴 95.60 0.036 63.4 PSO-ELM，Y轴 95.28 0.053 75.3 WOA-ELM，X轴 95.82 0.026 61.3 WOA-ELM，Y轴 96.22 0.038 66.8 LWA-ELM，X轴 97.79 0.052 56.9 LWA-ELM，Y轴 97.86 0.063 57.2 HWOA-SVM，X轴 96.69 2.018 45.6 HWOA-SVM，Y轴 95.43 2.322 46.7 HWOA-ELM，X轴 98.32 0.016 43.5 HWOA-ELM，Y轴 97.92 0.033 45.8