【摘要】 运动轨迹规划对水下机械手的研究和设计具有重要的影响,本文提出了一种基于模糊神经网络的水下机械手的运动轨迹规划方法。文章首先简要叙述了水下机械手的发展现状和存在问题,然后通过分析抓取任务及环境信息的获取,对水下机械手进行了数学建模。接着重点阐述了规划器的结构及工作原理,最后通过仿真对轨迹规划方法进行了验证。更多还原

【Abstract】 Motion trajectory planning is important in research and design of underwater manipulator,so this paper introduces one method of motion trajectory planning based on fuzzy neural network.After development status and existing problems of underwater manipulator is describes simply,mathematical model is established by analyzing grasp task and acquisition of environment information.Then the structure and working principles of planning system is emphatically elaborated.At last,the method is verified by simulation.更多还原