| 基于神经网络的机器人操作手IKP精确求解 |
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| 引用本文： | 陈学生,陈在礼,谢涛.基于神经网络的机器人操作手IKP精确求解[J].机器人,2002,24(2):130-133. |
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| 作者姓名： | 陈学生 陈在礼 谢涛 |
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| 作者单位： | 哈尔滨工业大学机械电子工程教研室,150001 |
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| 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，计算精度高且计
算速度接近机器人实时控制的要求．
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| 关 键 词： | 机器人操作手 逆运动学问题（IKP） 神经网络 误差补偿 |
| 文章编号： | 1002-0446(2002)02-0130-04 |
| 修稿时间： | 2001年3月26日 |
AN ACCURATE SOLUTION TO THE INVERSE KINEMATIC PROBLEM OF A ROBOT MANIPULATOR BASED ON THE NEURAL NETWORK |
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| CHEN Xue,sheng\,CHEN Zai,li\,XIE Tao.AN ACCURATE SOLUTION TO THE INVERSE KINEMATIC PROBLEM OF A ROBOT MANIPULATOR BASED ON THE NEURAL NETWORK[J].Robot,2002,24(2):130-133. |
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| Authors: | CHEN Xue sheng\ CHEN Zai li\ XIE Tao |
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| Abstract: | 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. |
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| Keywords: | robot manipulator inverse kinematics neural network error compensation |
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