首页 | 本学科首页   官方微博 | 高级检索  
     

基于扩散原理的冗余机器人逆运动学的学习方法
引用本文:孟正大,戴先中,安藤英由树,加藤厚生. 基于扩散原理的冗余机器人逆运动学的学习方法[J]. 机器人, 2001, 23(6): 550-553
作者姓名:孟正大  戴先中  安藤英由树  加藤厚生
作者单位:1. 东南大学自动控制系
2. 日本爱知工业大学
摘    要:本文介绍一种基于扩散原理的机器人逆运动学学习方法.首先运用偏微分扩散方程,只需少量的试验运动即可求解在有限作业空间上拥有同样拓扑关系的机器人逆运动学变换.然后应用反馈误差学习法修正学习误差.在此基础上,提出一种并行分布结构用于冗余机器人逆运动学计算.分析与仿真结果表明,该方法不仅算法简单、精度高,而且可获得连续的逆运动学映射.

关 键 词:冗余机器人  扩散方程  运动学逆变换  学习算法
文章编号:1002-0446(2001)06-0550-04

APPLICATION OF DIFFUSION THEORY-BASED LEARNING METHOD IN COMPUTING INVERSE MAP OF REDUNDANT ROBOTS
MENG Zheng da DAI Xian zhong Ohideyuki Ando Atsuo Kato. APPLICATION OF DIFFUSION THEORY-BASED LEARNING METHOD IN COMPUTING INVERSE MAP OF REDUNDANT ROBOTS[J]. Robot, 2001, 23(6): 550-553
Authors:MENG Zheng da DAI Xian zhong Ohideyuki Ando Atsuo Kato
Affiliation:MENG Zheng da 1 DAI Xian zhong 1 Ohideyuki Ando 2 Atsuo Kato 2
Abstract:This paper introduces a diffusion theory based learning method for the inverse map of redundant robots. First a partial differential diffusion equation is applied to solve the inverse map of robots which can keep the topology conserving performance during mapping.Then,the feedback error learning is applied to reduce the learning errors. Based on the above,a parallel decentralized computation architecture is put forward to accomplish the inverse map.The results of analysis and simulation show that a continuous inverse map can be attained with high speed and high precision by the method which needs only a few of trial motions.
Keywords:redundant robots   diffusion equation   inverse kinematic map   learning method  
本文献已被 CNKI 维普 万方数据 等数据库收录!
点击此处可从《机器人》浏览原始摘要信息
点击此处可从《机器人》下载全文
设为首页 | 免责声明 | 关于勤云 | 加入收藏

Copyright©北京勤云科技发展有限公司  京ICP备09084417号