基于BP网络的尾焦收集机器人运动学逆解算法分析

Analysis of an Algorithm to Solve Inverse Kinematics of an Offal Coke Collected Robot Based on BP Networks

利用改进的BP神经网络算法对尾焦收集机器人运动学逆解进行探讨,建立了尾焦收集机器人的运动学逆解的BP网络模型,进行了10输入、4输出和1个隐含层的BP网络训练,并用训练好的网络来求解运动学逆问题,取得了较好的效果,为机器人运动学逆问题算法提供了新的思路。

In this paper, we use the improved BP algorithm to talk about the inverse kinematics and build the inverse kinematics model of offal coke collected robot based on BP neural network. To solve the problem of the inverse kinematics, the BP neural net work is trained with ten inputs, four outputs and one hidden layers, and make a good effect. It offered a new way to solve the inverse kinematics of a robot.