A Research of BP Neural Network Based on Dynamics for Robot Manipulator

摘要：

In this paper, a dynamics model basing on the BP algorithm is proposed. The algorithm that can enhance the performance of the adaptability is the combination of torque control and a compensation structure using ANN. Errors are inevitable while the modeling for dynamics of robot manipulator. But they can be compensated by the compensation structure of ANN. The result of simulation shows that the controller can get the performance of trajectory well and the structure of controller is feasible.

关键词： ANN BP algorithm Robot Dynamics

作者: ZHOU Bo

作者单位: Department of training center Zaozhuang Vocational College of Science and Technology Zaozhuang China

会议类型: 国际会议

会议名称: 2011 International Conference on Manufacturing and Industrial Engineering(ICMIE 2011)(2011年制造及工业工程国际会议)

会议地点: 海口

会议语种:英文

页码: 550-552

在线出版日期: 2011-02-22（万方平台首次上网日期，不代表论文的发表时间）