| SOLVING INVERSE KINEMATICS OF REDUNDANT MANIPULATOR BASED ON NEURAL NETWORK |
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| 作者姓名： | MaGuang ReFujun |
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| 作者单位： | Ma Guang Shen GuiyingIndustrial Engineering College，Wenzhou University，Wenzhou 325035，ChinaRen FujunDepartment of Precise Instrumentand Mechanics，Tsinghua University，Beijing 100084，China |
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| 摘 要： | For the redundant manipulators, neural network is used to tackle the velocity inverse kinematics of robot manipulators. The neural networks utlized are multi-layered perceptions with a back-propagation training algorithm. The weight table is used to save the weights solving the inverse kinematics based on the different optimization performance criteria. Simulations verify the effectiveness of using neural network.
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| 关 键 词： | 神经网络 冗余度控制器 逆运动学 |
SOLVING INVERSE KINEMATICS OF REDUNDANT MANIPULATOR BASED ON NEURAL NETWORK |
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| MA Guang,Shen Guiying,Ren Fujun.SOLVING INVERSE KINEMATICS OF REDUNDANT MANIPULATOR BASED ON NEURAL NETWORK[J].Chinese Journal of Mechanical Engineering,2003,16(1):103-105. |
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| Authors: | MA Guang Shen Guiying Ren Fujun |
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| Affiliation: | [1]IndustrialEngineeringCollege,WnzhouUniversity,Wenzhou325035,China [2]DepartmentofPreciseInstrumentandMechanics,TsinghuaUniversity,Beijing100084,China |
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| Abstract: | For the redundant manipulators, neural network is used to tackle the velocity inverse kinematics of robot manipulators. The neural networks utlized are multi-layered perceptions with a back-propagation training algorithm. The weight table is used to save the weights solving the inverse kinematics based on the different optimization performance criteria. Simulations verify the effectiveness of using neural network. |
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| Keywords: | Redundant manipulators Neural network Weight table |
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