摘要
探讨了BP网络在MOTOMAN机器人运动学逆解中的应用。利用正解的结果作为训练样本 ,通过逐次训练 6个输入节点、2个隐层、单输出节点的BP网络得到机器人从工作空间到关节空间的非线性映射 。
This paper discusses the application of the BP network in inverse kinematics of MOTOMAN manipulator. Some forward kinematics results were used as training data set in the BP network and the nonlinear mapping from joint-variable-space to operation-variable space was obtained with iterative training and learning method.
出处
《机电工程》
CAS
2003年第2期56-59,共4页
Journal of Mechanical & Electrical Engineering
