基于神经网络的机器人操作手IKP精确求解  

AN ACCURATE SOLUTION TO THE INVERSE KINEMATIC PROBLEM OF A ROBOT MANIPULATOR BASED ON THE NEURAL NETWORK

作　　者：陈学生[1] 陈在礼[1] 谢涛[1] 

机构地区：[1]哈尔滨工业大学机械电子工程教研室,150001

出　　处：《机器人》2002年第2期130-133,共4页Robot

摘　　要：结合位置正解模型 ,利用 BP网络求解了机器人逆运动学问题 (IKP) .为提高求解结果精度 ,采用迭代计算进行误差补偿 ,计算结果表明 ,该法迭代次数少 。In this paper, IKP of the robot manipulator is solved by using BP neural network and the forward kinematic model. To improve the accuracy of the solution, an iterative approach is used to compensate for the offset error. Numerical results have shown that the accurate solutions can be obtained by performing only a few iteration steps and the computation speed can meet the requirements for the robot's real time control system.

关 键 词：机器人 操作手 逆运动学问题 IKP 神经网络 误差补偿 迭代计算 实时控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TP183[自动化与计算机技术—控制科学与工程]