基于BP网络的水轮机修复专用机器人运动学逆解分析  

Analysis on kinematics inverse solution of special purpose robot used for repairing hydro-turbine based on BP network

作　　者：杨萍[1] 刘晓琴[1] 张淑珍[1] 

机构地区：[1]兰州理工大学机电工程学院,甘肃兰州730050

出　　处：《机械设计》2005年第6期36-38,共3页Journal of Machine Design

基　　金：甘肃省中青年自然基金资助项目(19907)

摘　　要：用ProE软件建立了水轮机修复专用机器人的本体模型,在此基础上,利用Matlab循环程序求出机器人在给定关节变量下的运动学正解,以此作为训练样本,通过逐次训练6输入、6输出、2个隐含层的BP神经网络,得到机器人从工作空间到关节变量空间的非线性映射,从而实现了水轮机修复专用机器人运动学逆解的计算。The noumenal model of special purpose robot for repairing hydro-turbine was established by means of Pro-E software. Taking this as a base and using Matlab circulatory program the kinematics forward solution of robot under given joint-variables was found. Taking this as a sample and by way of progressive training on BP neural network with six inputs, six outputs and two hidden layers, nonlinear mapping of the robot from working space to joint-variable space was obtained, thus achieved the calculation of the kinematics inverse solution for the special purpose robot used for repairing hydro-turbine.

关 键 词：水轮机修复专用机器人 运动学逆解 BP神经网络 误差补偿 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]