采用神经网络方法研究柔性机械臂逆运动学问题

Using Neural Network Method of Flexible Manipulator Inverse Kinematics Research

本文以柔性机械臂为例,进行简单的逆运动学分析.并采用小脑模型神经网络方法对机械臂的逆运动学进行了数值仿真分析,可以看出,小脑模型神经网络可在较短的学习次数中有效地控制机械臂的振动.

Based on a flexible manipulator inverse, for example, the inverse kinematics analysis simple, and uses the cerebellum model of mechanical arm neural network method, the inverse kinematics, numerical simulation anal- ysis, we can see that the cerebellum model neural network can learn in a short period of time to effectively control the vibration of mechanical arm.