Abstract：The forward displacement analysis problem of TT VGT manipulators with redundant degree of freedom is trained based on BP neural network, and then a solution to inverse displacement analysis problem is obtained. According to the above the network model, the first and the second order influence coefficients are derived, and the pseudo inverse of Jacobian matrix is obtained by using neural network. Finally the simulation calculation of kinematics for a seven celled tetrahedron tetrahedron variable geometry truss manipulator is given for illustration.
1 Ziauddin Ahmad Allon Guez.On the Solution to the Inverse Kinematic Problem.IEEE Journal of Robotics and Automa-tion,1990 2 孙增圻.智能控制理论与技术.清华大学出版社 3 徐礼钜,李宏,范守文.Analytical Model Method for Dynamics of N-celled Tetrahedron-tetrahedr on Variable Geometry Truss Manipul ators.ASME Mechanisms Conference,Atlanta,USA,1998
