用正交试验法选择BP网络参数研究机器人运动学逆解

Journal of Applied Sciences ›› 2008, Vol. 26 ›› Issue (2): 216-216 .

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

XUE Yan-min, LIU Hong-zhao

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

Abstract

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)

XUE Yan-min;LIU Hong-zhao. Inverse Kinematics for Robot Based on BP Network and Orthogonal Design Experimentation
[J]. Journal of Applied Sciences, 2008, 26(2): 216-216 .

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

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