| 基于BP网络的尾焦收集机器人运动学逆解算法分析 |
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| 引用本文： | 李欧阳,朱石沙,李国栋.基于BP网络的尾焦收集机器人运动学逆解算法分析[J].机械制造与自动化,2007,36(2):108-110,114. |
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| 作者姓名： | 李欧阳 朱石沙 李国栋 |
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| 作者单位： | 湘潭大学,机械工程学院,湖南,湘潭,411105 |
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| 摘 要： | 利用改进的BP神经网络算法对尾焦收集机器人运动学逆解进行探讨,建立了尾焦收集机器人的运动学逆解的BP网络模型,进行了10输入、4输出和1个隐含层的BP网络训练,并用训练好的网络来求解运动学逆问题,取得了较好的效果,为机器人运动学逆问题算法提供了新的思路.
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| 关 键 词： | BP神经网络 尾焦收集机器人 运动学逆解 网络训练 尾焦 机器人运动学 逆解 算法分析 BP Networks Based Robot Coke Offal Inverse Kinematics Algorithm 逆问题算法 效果 求解 隐含层 输出 输入 网络模型 网络算法 |
| 文章编号： | 1671-5276（2007）02-0108-03 |
| 修稿时间： | 2006-11-01 |
Analysis of an Algorithm to Solve Inverse Kinematics of an Offal Coke Collected Robot Based on BP Networks |
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| LI Ou-yang,ZHU Shi-sha,LI Guo-dong.Analysis of an Algorithm to Solve Inverse Kinematics of an Offal Coke Collected Robot Based on BP Networks[J].Machine Building & Automation,2007,36(2):108-110,114. |
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| Authors: | LI Ou-yang ZHU Shi-sha LI Guo-dong |
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| Affiliation: | College of Mechanical Engineering, Xiangtan University, Xiangtan 411105, China |
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| Abstract: | In this paper, we use the improved BP algorithm to talk about the inverse kinematics and build the inverse kinematics model of offal coke collected robot based on BP neural network. To solve the problem of the inverse kinematics, the BP neural net work is trained with ten inputs, four outputs and one hidden layers, and make a good effect. It offered a new way to solve the inverse kinematics of a robot. |
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| Keywords: | BP neural network offal coke collected robot inverse kinematics |
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