摘要
研究了3种BP网络改进算法在机器人逆运动学中的应用.采用多层前向神经网络建立机械手逆运动学模型.仿真结果表明,所提方法可以满足机械手逆运动学解的精度,确保快速达到全局收敛.
This paper studies three kinds of improved BP algorithm on inverse kinematics in robotics. The multilayer forward neural networks are used to establish the inverse kinematics models for robot manipulator. Simulations show that the proposed method can satisfy the inverse kinematics solutions for robot manipulator and guarantees a rapid global convergence.
出处
《机械与电子》
2005年第11期43-46,共4页
Machinery & Electronics
关键词
神经网络
机器人
逆运动学
改进算法
neural network
robot, inverse kinematics
improved algorithm
