|
Ma Guang
Shen Guiying
Industrial
Engineering College,
Wenzhou University,
Wenzhou 325035, China
Ren Fujun
Department of Precise Instrument
and Mechanics,
Tsinghua University,
Beijing 100084, China |
|
|
SOLVING INVERSE KINEMATICS OF
REDUNDANT MANIPULATOR BASED
ON NEURAL NETWORK
Abstract:
For the redundant manipulators, neural network is used to tackle the velocity inverse kinematics of robot manipulators. The neural networks utilized are multi-layered perceptions with a back-propagation training algorithm. The weight table is used to save the weights solving the inverse kinematics based on the different optimization performance criteria. Simulations verify the effectiveness of using neural network.
Key words: Redundant manipulators Neural network Weight
table |