摘要
提出了一个基于双重 BP神经网络的冗余度四面体变几何桁架机器人位置控制方案 ,通过增加关节角变化最小的约束条件 ,定义了优化的目标函数 ,在此基础上建立了冗余度四面体变几何桁架机器人位置控制模型 ,并以四重四面体变几何桁架机器人位置控制为例进行了系统仿真。
A position control scheme for redundant tetrahedron based variable geometry truss manipulators is proposed based on two BP neural networks. The constraint conditions that is the minimum of change of joint variables are set and the objective function of optimization is defined. Based on it, the position control model of redundant tetrahedron based variable geometry truss manipulators is established. The simulation study of position control system for a four-celled tetrahedron variable geometry truss manipulator is carried out.
出处
《机械科学与技术》
EI
CSCD
北大核心
2001年第2期166-168,共3页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金资助项目
关键词
冗余度四面体变几何桁架机器人
BP神经网络
位置控制
Redundant tetrahedron variable geometry truss manipulator
BP neural network
Position control
