| 基于GA-RBF网络的ABB机器人逆运动学求解 |
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| 引用本文： | 夏天,孙翰英,范嘉桢,杨建国.基于GA-RBF网络的ABB机器人逆运动学求解[J].机械设计与制造,2010(1). |
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| 作者姓名： | 夏天 孙翰英 范嘉桢 杨建国 |
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| 作者单位： | 1. 上海交通大学,机械与动力工程学院,上海,200240
2. 山东淄博职业学院,机电工程系,淄博,255314 |
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| 摘 要： | 阐述了利用遗传算法对RBF网络进行优化的过程。并结合ABB机器人的正运动学分析,将正运动学求解的结果作为GA-RBF优化网络的训练样本,求解了机器人逆运动学问题。仿真和试验结果均表明该方法能得到很高精度的运动学逆解。
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| 关 键 词： | ABB机器人 GA-RBF网络 运动学 逆解 |
Solution to the inverse kinematics problem of ABB robot based on the GA-RBF network |
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| XIA Tian,SUN Han-ying,FAN Jia-zhen,YANG Jian-guo.Solution to the inverse kinematics problem of ABB robot based on the GA-RBF network[J].Machinery Design & Manufacture,2010(1). |
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| Authors: | XIA Tian SUN Han-ying FAN Jia-zhen YANG Jian-guo |
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| Affiliation: | 1 School of Mechanical Engineering/a>;Shanghai Jiaotong University/a>;Shanghai 200240/a>;China;2 Mechanical and Electrical Engineering Department/a>;Zibo Vocational Institute/a>;Zibo 255314/a>;China |
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| Abstract: | It describes how to optimize the RBF network using GA.By using the forward kinematics results as training data set in the GA-RBF network,the inverse kinematics problem is solved with a high accuracy.The results of simulation and experiment both show that this method can get a accurate solution to the IKP of ABB robot. |
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| Keywords: | ABB robot manipulator GA-RBF network Inverse Kinematics |
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