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应用科学学报 ›› 2001, Vol. 19 ›› Issue (1): 44-47.

• 论文 • 上一篇    下一篇

欠自由度机器人的运动学逆解存在性神经网络判别

崇凯1, 柯显信2   

  1. 1. 江苏理工大学机械工程学院, 江苏镇江 212013;
    2. 上海大学特种机器人技术应用研究室, 上海 200072
  • 收稿日期:1999-10-03 修回日期:2000-06-28 出版日期:2001-03-31 发布日期:2001-03-31
  • 作者简介:崇凯(1949-),男,江苏盐城人,副教授,硕士.

Discriminating the Existence of Inverse Kinematics Solution of Underfreedom-robot by Neural Network

CHONG Kai1, KE Xian-xin2   

  1. 1. Mechanical Engineering Department, Jiangsu University of Science & Technology, Zhenjiang 212013, China;
    2. Advanced Robot Technology Application Laboratory, Shanghai University, Shanghai 200072, China
  • Received:1999-10-03 Revised:2000-06-28 Online:2001-03-31 Published:2001-03-31

PDF

83

被引次数

4

摘要： 针对欠自由度机器人在工作空间内运动学逆解的存在性问题,提出虚拟关节法,并利用神经网络的学习能力,区分出可解子空间和不可解子空间,达到了对给定末端位姿可解性的准确判别.

关键词: 欠自由度机器人, 虚拟关节法, 神经网络, 运动学逆解

Abstract: For solving the solvability problem within the work space of underfreedom-robot, a virtual joint method is proposed and BP neural network is used to distinguish the solvable and unsolvable posture space and to determine whether there exists an inverse kinematics solution. The result is proved ideal.

Key words: underfreedom-robot, virtual joint method, inverse kinematics solution, neural networks

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