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| 基于RBF网络的SCARA机器人的运动学逆解 | |
| 引用本文： | 荣盘祥,杨晶,胡林果,马广富. 基于RBF网络的SCARA机器人的运动学逆解[J]. 电机与控制学报, 2007, 11(3): 303-305 |
| 作者姓名： | 荣盘祥 杨晶 胡林果 马广富 |
| 作者单位： | 1. 哈尔滨工业大学,自动化学院,黑龙江,哈尔滨,150001;哈尔滨理工大学,自动化学院,黑龙江,哈尔滨,150080 2. 哈尔滨理工大学,自动化学院,黑龙江,哈尔滨,150080 3. 哈尔滨工业大学,自动化学院,黑龙江,哈尔滨,150001 |
| 摘 要： | 针对机器人逆运动学问题,在径向基函数神经网络也称RBF(Radial Basis Function)神经网络的基础上,提出了利用科利达公司提供的SCARA机器人的正解结果作为训练样本,通过逐次训练得到机器人从工作空间到关节空间的映射,从而实现运动学逆解计算的方法.此方法避免了公式推倒和编程计算的复杂过程,求解简单,实时性强. |
| 关 键 词： | SCARA机器人 RBF神经网络 运动学逆解 |
| 文章编号： | 1007-449X（2007）03-0303-03 |
| 修稿时间： | 2007-01-20 |
Inverse kinematic in SCARA manipulator based on RBF networks |
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| RONG Pan-xiang,YANG Jing,HU Lin-guo,MA Guang-fu. Inverse kinematic in SCARA manipulator based on RBF networks[J]. Electric Machines and Control, 2007, 11(3): 303-305 | |
| Authors: | RONG Pan-xiang YANG Jing HU Lin-guo MA Guang-fu |
| Affiliation: | 1. School of Automation,Harbin Institute of Technology,Harbin 150001 ,China; 2. School of Automation, Harbin University of Science and Technology, Harbin 150080, China |
| Abstract: | In this article we have provided a method of neural networks based on radial basis functions which is also named solving method of RBF(Radial Basis Function)neural network to deal with inverse kinematic.This method used some forward kinematic results of SCARA robot which Harbin Kelida Co,Ltd provided as training samples,and mapping from workspace to joint space was obtained with iterative training,then calculation of inverse kinematic was achieved.It avoided complex process of formula deduction and programming calculation,its derivation was simple and its character of real time was good. |
| Keywords: | SCARA manipulator RBF neural network inverse kinematic |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |