基于EWT-LSTM的工业机器人关节异常检测

蒋沁诚,陶建峰,王洋洋,张宇磊,刘成良

EWT-LSTM based industrial robot joint anomaly detection

Qincheng JIANG,Jianfeng TAO,Yangyang WANG,Yulei ZHANG,Chengliang LIU

表 5 利用时序预测模型预测工业机器人关节信号的评估结果

Tab.5 Evaluation result of industrial robot joint signal predicted by time series prediction model

模型 MAE RMSE R2 RF 0.05347 0.05925 0.87383 SVR 0.04051 0.06091 0.87467 RNN 0.04294 0.04630 0.91125 CNN 0.03597 0.04088 0.93080 LSTM 0.03164 0.03622 0.95399 seq2seq 0.01883 0.02267 0.98197 LSTM-Attention 0.01454 0.01863 0.98782 seq2seq-Attention 0.01292 0.01691 0.98997 CNN-LSTM-Attention 0.00691 0.00853 0.99662