陈学生, 陈在礼, 谢涛. 基于神经网络的机器人操作手IKP精确求解[J]. 机器人, 2002, 24(2): 130-133..
CHEN Xue-sheng, CHEN Zai-li, XIE Tao . AN ACCURATE SOLUTION TO THE INVERSE KINEMATIC PROBLEM OF A ROBOT MANIPULATOR BASED ON THE NEURAL NETWORK. ROBOT, 2002, 24(2): 130-133..
Abstract：In this paper, IKP of the robot manipulator is solved by using BP neural network and the forward kinematic model. To improve the accuracy of the solution, an iterative approach is used to compensate for the offset error. Numerical results have shown that the accurate solutions can be obtained by performing only a few iteration steps and the computation speed can meet the requirements for the robot's real time control system.
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