The invention relates to a mechanical arm movement
rhythm control method based on a CPG neural network. The method comprises the following steps that (1) an upper computer is used for setting electricconductivity and reverse potential parameters corresponding to nerve
cell continuous
sodium current,
potassium current and leakage current as well as an upper limit threshold value, a
lower limit threshold value and a threshold value period during variable-threshold shaping, and transmitting the electric
conductivity, the reverse potential parameters, the upper limit threshold value, the
lower limit threshold value and the threshold value period to the FPGA through
USB communication; (2) the FPGA is used for establishing a CPG
neural network simulation model according to the set parameters,
simulation is carried out, a
discharge waveform is output in the
simulation process, and the waveform is transmitted to the upper computer to be displayed; (3) the FPGA is used for achieving variable-threshold shaping, the
discharge waveform output by the CPG neural network in the step 2 is set, moreover, a
control signal is output to a mechanical arm so as to control and adjust the movement rhythmof the mechanical arm, and the
angular displacement of a mechanical arm joint is transmitted to the upper computer to be displayed.