Journal of Applied Sciences ›› 2001, Vol. 19 ›› Issue (1): 44-47.

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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

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

CLC Number: