采用RBF对柔性机械臂进行逆动力学分析

Using RBF Neural Network Method of Flexible Manipulator Inverse Kinematics Research

本文以单柔性机械臂为例,利用拉格朗日方程和Rayleigh-Ritz方法进行简单的逆运动学分析,分别采用近似法和RBF神经网络方法对模型进行了数值仿真分析。通过分析可以看出,相较于近似方法,利用RBF神经网络方法得到的轨迹更接近实际轨迹,为后续解决柔性杆件运动过程中的控制问题提供了较好的解决办法。

Taking a single flexible manipulator as an example,Lagrange and Rayleigh Ritz method were used for a simple analysis of the inverse kinematics,and approximation method and RBF neural network were used respectively to analyze in numerical simulation. It can be seen that the trajectory obtained by RBF neural network method is closer to the actual trajectory than the approximate method. It provides a better solution for the control of flexible rod during motion.