| 引用本文: | 陈国锋,杨昂岳,傅祥志,等.基于人工神经网络的操作手IKP 求解.[J].国防科技大学学报,1995,17(2):48-52.[点击复制] |
| Chen Guofeng,Yang Angyue,Fu Xiangzhi,et al.Solution to the Inverse Kinematic Problem in Robotics by Neural Networks[J].Journal of National University of Defense Technology,1995,17(2):48-52[点击复制] |
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| 基于人工神经网络的操作手IKP 求解 |
| 陈国锋1, 杨昂岳1, 傅祥志2, 廖道训2 |
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(1.国防科技大学;2.华中理工大学)
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| 摘要: |
| 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. |
| 关键词: 机器人操作手 运动学逆问题（IKP) 人工神经网络 |
| DOI： |
| 投稿日期：1995-01-08 |
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| Solution to the Inverse Kinematic Problem in Robotics by Neural Networks |
| Chen Guofeng1, Yang Angyue1, Fu Xiangzhi2, Liao Daoxun2 |
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(1.National University of Defense Technology;2.Huazhong University of Science and Technology)
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| Abstract: |
| 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. |
| Keywords: robot manipulator inverse kinematic problem artificial neural networks |
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