Spraying Robot Kinematics Analysis Based on BP Neural Network

被引：0

作者：

Pei, Zhongcai ^{[1
]}

Zhao, Mingwei ^{[1
]}

Liu, Difei ^{[1
]}

机构：

[1] Beihang Univ, Sch Automat Sci & Elect Engn, Xueyuan Rd, Beijing, Peoples R China

来源：

2015 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION | 2015年

关键词：

Robot Kinematics; BP Neural Network; Matlab Robotics Toolbox;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we use the five-degrees-of-freedom spraying robot as the research object which is in the process of development in our laboratory. Robot kinematics is analyzed in order to solve the control problem. Each link coordinate system is established using the D-H method. The transformation matrix between the connecting links is calculated. Then we get the kinematics equations of the robot, and build its model in Matlab environment to verify the correctness of the equations. At last BP neural network is used to solve the inverse kinematics problem. The result is satisfactory after repeated training and validation.

引用

页码：2744 / 2748

页数：5