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SOLVING INVERSE KINEMATICS OF REDUNDANT MANIPULATOR BASED ON NEURAL NETWORK 被引量：1

SOLVING INVERSE KINEMATICS OF REDUNDANT MANIPULATOR BASED ON NEURAL NETWORK
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摘要 For the redundant manipulators, neural network is used to tackle the velocityinverse kinematics of robot manipulators. The neural networks utilized are multi-layeredperceptions with a back-propagation training algorithm. The weight table is used to save the weightssolving the inverse kinematics based on the different optimization performance criteria.Simulations verity the effectiveness of using neural network. For the redundant manipulators, neural network is used to tackle the velocityinverse kinematics of robot manipulators. The neural networks utilized are multi-layeredperceptions with a back-propagation training algorithm. The weight table is used to save the weightssolving the inverse kinematics based on the different optimization performance criteria.Simulations verity the effectiveness of using neural network.
作者 MaGuang ReFujun 等
机构地区 IndustrialEngineeringCollege DepartmentofPreciseInstrumentandMechanics
出处 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2003年第1期103-105,共3页 中国机械工程学报（英文版）
关键词 Redundant manipulators Neural network Weight table Redundant manipulators Neural network Weight table
分类号 TP273 [自动化与计算机技术—检测技术与自动化装置] TP183 [自动化与计算机技术—控制理论与控制工程]
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参考文献10

  • 1[1]Cheng F T, Chen T H, Sun Y Y. Resolving manipulator redundancy under inequality constraints. IEEE Trans. on Robotics and Automation, 1994, 10(1): 65～71
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Chinese Journal of Mechanical Engineering
2003年 第1期

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