| 欠自由度机器人的运动学逆解存在性神经网络判别 |
| |
| 引用本文： | 崇凯,柯显信. 欠自由度机器人的运动学逆解存在性神经网络判别[J]. 应用科学学报, 2001, 19(1): 44-47 |
| |
| 作者姓名： | 崇凯 柯显信 |
| |
| 作者单位： | 1. 江苏理工大学机械工程学院, 江苏镇江 212013;2. 上海大学特种机器人技术应用研究室, 上海 200072 |
| |
| 摘 要： | 针对欠自由度机器人在工作空间内运动学逆解的存在性问题,提出虚拟关节法,并利用神经网络的学习能力,区分出可解子空间和不可解子空间,达到了对给定末端位姿可解性的准确判别.
|
| 关 键 词： | 欠自由度机器人 虚拟关节法 神经网络 运动学逆解 |
| 文章编号： | 0255-8297(2001)01-0044-04 |
| 收稿时间： | 1999-10-03 |
| 修稿时间： | 2000-06-28 |
Discriminating theExistence of Inverse Kinematics Solution of Underfreedom-robot by Neural Network |
| |
| CHONG Kai ,KE Xian xin. Discriminating theExistence of Inverse Kinematics Solution of Underfreedom-robot by Neural Network[J]. Journal of Applied Sciences, 2001, 19(1): 44-47 |
| |
| Authors: | CHONG Kai KE Xian xin |
| |
| Affiliation: | 1. Mechanical Engineering Department, Jiangsu University of Science & Technology, Zhenjiang 212013, China;2. Advanced Robot Technology Application Laboratory, Shanghai University, Shanghai 200072, China |
| |
| 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. |
| |
| Keywords: | underfreedom robot virtual joint method neural networks inverse kinematics solution |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
| 点击此处可从《应用科学学报》浏览原始摘要信息 |
|
点击此处可从《应用科学学报》下载全文 |
