机器人逆运动学建模的神经网络体系结构比较

Proceedings of the IEEE SoutheastCon 2000. 'Preparing for The New Millennium' (Cat. No.00CH37105) Pub Date : 2000-04-07 DOI:10.1109/SECON.2000.845423

J. A. Driscoll

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引用次数: 16

摘要

描述了利用神经网络对包括冗余机械手在内的机器人机械手进行逆运动学建模，并探讨了利用多个协作网络进行逆运动学整体建模的方法。采用了多种网络体系结构，并对其性能进行了比较。神经网络也被用于训练机器人在指定的避障轨迹。

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Comparison of neural network architectures for the modeling of robot inverse kinematics

Describes the use of neural networks to model the inverse kinematics of robot manipulators, including a redundant manipulator The use of multiple cooperating networks for the overall modeling of inverse kinematics was explored. A variety of network architectures was used, and their performance was compared. Neural networks were also used to train robots in specified obstacle-avoidance trajectories.

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Proceedings of the IEEE SoutheastCon 2000. 'Preparing for The New Millennium' (Cat. No.00CH37105)

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