基于D-FNN的6R工业机器人逆解算法的研究

Research on inverse Kinematics algorithm of 6R industrial robot based on D-FNN

机器人逆解是机器人运动学研究的关键。本文根据针对6R工业机器人采用了一种基于D-FNN的逆解算法,该算法是以神经网络逼近机器人非线性方程组的思想进行6R机器人逆解的求解。实验中根据机器人正解的方法求取机器人的位姿,并以此为样本进行训练;在仿真验证时,再次采用获取样本的方法得到位姿以及每个关节转动角,以此位姿为已知输入到网络中,获取结果进行比较从而验证了该方法的正确性。

Inverse kinematics of robot is the key of robot research.In this paper, a D-FNN algorithm is used for 6R industrial robot, which is based on the neural network to solve the inverse problem of the 6R robot by approximating the nonlinear equations of the robot.In the experiment, the Data samples are calculated according to kinematics of the robot.Then the test samples are input into the network, and the experimental data are compared with the theoretical data to prove the correctness of the method.