基于人工神经网络的操作手IKP求解

Solution to the Inverse Kinematic Problem in Robotics by Neural Networks

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。

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.