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Data acquisition method and device, pre-training method and device, electronic equipment and storage medium

A technology of data acquisition and target data, which is applied in the field of data processing, can solve the problems of low reliability of training data and friction measurement, and achieve the effect of ensuring training data, improving reliability and eliminating human factors

Active Publication Date: 2022-06-28
JIHUA LAB
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Problems solved by technology

[0004] For the friction compensation model of the manipulator, the output data is generally the specific value of the friction force, so the data label used for comparison should also be the specific value of the friction force that actually needs to be compensated, but the actual friction force that needs to be compensated is difficult to pass It is measured that the existing technology is often obtained only by human experience, so that the reliability of the training data used for training the pre-training model is low

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  • Data acquisition method and device, pre-training method and device, electronic equipment and storage medium
  • Data acquisition method and device, pre-training method and device, electronic equipment and storage medium
  • Data acquisition method and device, pre-training method and device, electronic equipment and storage medium

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Embodiment Construction

[0070] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations. Thus, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the application as claimed, but is merely representative of selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0071] It sh...

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Abstract

The invention relates to the field of data processing, in particular to a data acquisition method and device, a pre-training method and device, electronic equipment and a storage medium. The data acquisition method comprises the steps that multiple pieces of simulation state data of the mechanical arm are acquired; respectively taking each piece of simulation state data as target data, and calculating a corresponding linear friction force value set and a nonlinear friction force value set according to the target data; calculating a target friction force value set corresponding to the target data according to the linear friction force value set and the nonlinear friction force value set; acquiring multiple groups of training data according to the target data and the corresponding target friction force value set; according to the method, two factors of linear friction force and non-linear friction force are comprehensively considered, and a data label closer to a real value is obtained through calculation, so that the obtained training data are more real and reliable.

Description

technical field [0001] The invention relates to the field of data processing, in particular to a data acquisition method, a pre-training method, an apparatus, an electronic device and a storage medium. Background technique [0002] Pre-training refers to the process of pre-training the initial training model before obtaining the final training model. The purpose is to use as much training data as possible to train in the same or similar tasks to extract as much as possible Common features, when the common features in the model are determined, it is only necessary to place the model in the actual application scenario for retraining to fine-tune other non-common features, so as to obtain a more accurate model for the actual application scenario; use The pre-training method can speed up the training progress and increase the stability of the model. [0003] In order to accurately extract common features, it is often required that the training data used to train the pre-trainin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/00
CPCB25J9/1605B25J9/161B25J13/00
Inventor 张校志张洊闻
Owner JIHUA LAB
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