English

应用科学学报

• 论文 • 上一篇    

用正交试验法选择BP网络参数研究机器人运动学逆解

薛艳敏 刘宏昭
  

  1. 西安理工大学 机仪学院，陕西 西安 710048
  • 收稿日期:2007-03-19 修回日期:2007-10-28 出版日期:2008-03-31 发布日期:2008-03-31

Inverse Kinematics for Robot Based on BP Network and Orthogonal Design Experimentation

XUE Yan-min, LIU Hong-zhao
  

  1. School of Machinery and Precision Instrument Engineering, Xi’an University of Technology, Xi’an 710048, China
  • Received:2007-03-19 Revised:2007-10-28 Online:2008-03-31 Published:2008-03-31

被引次数

9

摘要： 探讨了用正交试验法选择BP网络训练参数对PUMA560机器人进行逆运动学求解。利用运动学正解得到的结果作为BP网络的训练数据和检验数据，通过6个12输入、1输出、2个隐层的BP网络实现了6个参数的逆解计算。网络的训练参数通过正交试验法进行优化组合而得出。仿真结果表明,该方法建立的BP网络具有较快的处理速度和较高的计算精度，训练好的网络可用于机器人的实时控制。

关键词: 运动学逆解, 机器人, BP网络, 正交试验法

Abstract: This paper deals with the inverse kinematics problem of the PUMA560 robot. Based on six similar BP neural networks, the inverse kinematics solution of the manipulator is obtained. The training parameters are obtained by optimized organization using orthogonal design experimentation (ODE). Simulation results indicate that this method has the advantage of fast learning rate, high precision of identification and better real-time capability.

Key words: inverse kinematics, robot, BP network, orthogonal design experimentation (ODE)