According to the existing problems that back-propagation(BP)neural network with fixed activation function parameters has the shortcomings of slow learning speed, weak generalization ability and ease of falling into local minimum,an adaptive BP neural network algorithm for 2-joint rigid robot is proposed.Firstly,a novel structure of activation function with adjustable parameters is designed.In order to make the BP neural network have better nonlinear mapping capability,its mapping range,steep degree,and hori...
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