基于人工神经网络的SCORBOT ER-4u轨迹跟踪运动学逆解

2015 6th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2015-04-09 DOI:10.1109/ICARA.2015.7081175

Rahul Kumar, P. Chand

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引用次数: 18

摘要

本文采用多层前馈(MLFF)神经网络对SCORBOT-ER 4u机械臂进行运动学分析。SCORBOT-ER 4u是一个具有旋转关节的五自由度垂直铰接教育机器人。Denavit-Hartenberg和geometry方法是用于生成数据和训练神经网络的正运动学算法。通过学习正逆映射，可以求出运动学逆解。该算法在硬件(SCORBOT-ER 4u)上进行了测试，得到了可靠的结果。采用MATLAB 8.0软件进行建模和仿真。

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Inverse kinematics solution for trajectory tracking using artificial neural networks for SCORBOT ER-4u

This paper presents the kinematic analysis of the SCORBOT-ER 4u robot arm using a Multi-Layered Feed-Forward (MLFF) Neural Network. The SCORBOT-ER 4u is a 5-DOF vertical articulated educational robot with revolute joints. The Denavit-Hartenberg and Geometrical methods are the forward kinematic algorithms used to generate data and train the neural network. The learning of forward-inverse mapping enables the inverse kinematic solution to be found. The algorithm is tested on hardware (SCORBOT-ER 4u) and reliable results are obtained. The modeling and simulations are done using MATLAB 8.0 software.

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2015 6th International Conference on Automation, Robotics and Applications (ICARA)

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