| 基于神经网络的机器人姿态逆解 |
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| 引用本文： | 张伟.基于神经网络的机器人姿态逆解[J].南京航空航天大学学报,1997(1). |
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| 作者姓名： | 张伟 |
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| 作者单位： | 南京航空航天大学机电工程学院!南京，210016 |
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| 基金项目： | 航空青年基金，中国科学院机器人学开放研究实验室基金 |
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| 摘 要： | 首次实现自组织神经网络求解机器人姿态逆解，突破了文献局限于研究位置逆解的状况。应用本文创新的自组织神经网络训练方法，结合工业机器人运动学特性，建立了工业机器人姿态逆解的神经网络方法，对PUMA560机器人的计算机仿真结果表明，该方法姿态控制精度高。
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| 关 键 词： | 神经网络 机器人 运动学逆解 无导师学习 自组织映射 |
The Inverse Kinematics for the Orintation of a Robot Arm Based on Neural Network |
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| Zhang Wei.The Inverse Kinematics for the Orintation of a Robot Arm Based on Neural Network[J].Journal of Nanjing University of Aeronautics & Astronautics,1997(1). |
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| Authors: | Zhang Wei |
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| Abstract: | A methodology is presented for the first time whereby the self-organizing neural network is used to learn the inverse kinematic relationship between the joint-variable space and the orintation of the end-effector of a robot arm. The learning algorithm of the neural network for the arm solution of the orintation is based on the improved self-organizing neural network proposed and the study of the characters of the kinematics of a industrial robot arm. The computer simulation results for the PUMA 560 robot arm show that this method is the best in precision control of the orintation of a robot arm. |
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| Keywords: | neural network robot inverse kinematic problem unsupervised learning topology-conserving maps |
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