基于LS-SVM的水火弯板机械手逆运动学求解

The analyses of inverse kinematics of line heating manipulator based on LS- SVM

对水火弯板机械手的运动学进行分析,实现了正逆向运动学的仿真。主要讨论应用LS-SVM方法对逆运动学进行求解,并与传统LMBP方法得到的结果进行对比。仿真结果表明,此方法能够很好实现水火弯板机械手对加热轨迹的跟踪。

The kinematics of line heating manipulator is analyzed in this paper. The positive and inverse kinematics simulations are achieved. This paper mainly discusses the solving of inverse kinematics by the application of Least Squares Support Vector Machines （LS - SVM） , and compares with the results of the traditional method BP. The results of simulation show that this method can achieve the tracking of heating trajectory