| 基于神经网络的机器人运动学反解算法 |
| |
| 引用本文： | 徐宜挂,熊有伦. 基于神经网络的机器人运动学反解算法[J]. 海军工程大学学报, 1996, 0(2) |
| |
| 作者姓名： | 徐宜挂 熊有伦 |
| |
| 作者单位： | 华中理工大学 |
| |
| 摘 要： | 提出了一种基于神经网络的机器人运动学反解算法。详细讨论了神经网络求解的快速算法以及求解精度的自动检验与改进等技术问题，并以六自由度ＰＵＭＡ机器人为例，进行了数值模拟计算。结果表明：用神经网络反对机器人的运动学问题，不仅求解过程简单，还可避免传统反解方法中的许多棘手问题。
|
| 关 键 词： | 机器人；运动学；神经网络 |
Solving the Inverse Kinematics of Robots using Neural Networks |
| |
| Xiu Yigui, Xiong Yolun. Solving the Inverse Kinematics of Robots using Neural Networks[J]. Journal of Naval University of Engineering, 1996, 0(2) |
| |
| Authors: | Xiu Yigui Xiong Yolun |
| |
| Affiliation: | Xiu Yigui; Xiong Yolun |
| |
| Abstract: | A new approach of solving the inverse kinematics of Robots using neural networks(ANN) ispresented in this paper, and some technology problems such as fast learning algorithm Of ANN,the automatical examination and improvement of ANN computing precision are discussed in detail. As an example, a PUMA robot with 6 DOF is inversely solved successfully, which shows theapproach is practical. |
| |
| Keywords: | Robot Kinematics ANN |
| 本文献已被 CNKI 等数据库收录！ |
|
