【摘要】 针对机器人逆运动学问题,在径向基函数神经网络也称RBF(Radial Basis Function)神经网络的基础上,提出了利用科利达公司提供的SCARA机器人的正解结果作为训练样本,通过逐次训练得到机器人从工作空间到关节空间的映射,从而实现运动学逆解计算的方法。此方法避免了公式推倒和编程计算的复杂过程,求解简单,实时性强。更多还原

【Abstract】 In this article we have provided a method of neural networks based on radial basis functions which is also named solving method of RBF(Radial Basis Function)neural network to deal with inverse kinematic.This method used some forward kinematic results of SCARA robot which Harbin Kelida Co,Ltd provided as training samples,and mapping from workspace to joint space was obtained with iterative training,then calculation of inverse kinematic was achieved.It avoided complex process of formula deduction and programming calculation,its derivation was simple and its character of real time was good.更多还原