基于人工神经网络的操作手IKP 求解

人工神经网络以其信息的并行处理与分布式存储、自组织和自适应等特点，在机器人领域显示了极大的应用潜力。本文探讨人工神经网络在机器人操作手ＩＫＰ求解中的应用，试图求得操作手ＩＫＰ的一组或所有可行解。文章利用ＢＰ网络对操作手ＩＫＰ的求解进行了讨论和分析，并给出了具体的求解实例。

Solution to the Inverse Kinematic Problem in Robotics by Neural Networks

Neural Networks have been paid more and more attention in robotics owing toits excellent abilities of parallel distributed processing, self-organizing and self-learning.This paper inquire into and analyzes the potential application of BP networks to solve robot manipulator inverse kinematic problem with multi-solutions. The illustrative example shows that the neural network can be trained to generate a fairly accurate solution without costly derivations and programming of the inverse kinematic algorithm.