| 基于神经网络的冗余度二重八面体变几何桁架机器人运动学求解 |
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| 引用本文： | 吴江,徐礼钜,雷勇.基于神经网络的冗余度二重八面体变几何桁架机器人运动学求解[J].四川大学学报(工程科学版),2000,32(2):90-94. |
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| 作者姓名： | 吴江 徐礼钜 雷勇 |
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| 作者单位： | 四川大学,制造学院,成都,610065 |
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| 基金项目： | 国家自然科学基金资助项目! ( 5 9785 0 0 1) |
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| 摘 要： | 应用ＢＰ神经网络对冗余度二重八面体变曲何桁架机器人的位姿正解进行训练产，解决了二重八面体变几何桁架机器人的位姿反解问题。并利用网络模型求得运动学中的一、二阶影响系数矩阵，将关节极限优化指标引入机器人的运动学规划中，提出了一种轨迹规划方法。并对双二重八面体变几何桁架机器人进行了仿真计算。
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| 关 键 词： | 神经网络 冗余度 变几何桁架机器人 运动学 |
| 修稿时间： | 1999-07-13 |
The Kinematics of Redundant Double-octahedron Variable Geometry Truss Manipulators Based on Neural Network |
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| WU jiang,XU Li-ju,LEI yong.The Kinematics of Redundant Double-octahedron Variable Geometry Truss Manipulators Based on Neural Network[J].Journal of Sichuan University (Engineering Science Edition),2000,32(2):90-94. |
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| Authors: | WU jiang XU Li-ju LEI yong |
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| Abstract: | The forward displacement analysis problem of redund ant double octahedron variable geometry truss manipulators are trained on BP neural network, and then a solution to inverse displacement analysis problem is obtained. According to above network model, the first and the second order influence coefficients are derived. The performance index taking account of joint limitation is introduced, and based on it a method of path planning for the manipulators is presented. The simulation calculation for two double octahedron variable geometry truss manipulators is given. |
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| Keywords: | neural network redundant double octahedron variable geometry truss manipulator influence coefficient inverse displacement analysis kinematics |
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