Kinematics Research of 6R Arc Welding Robot Based on Radial Basis Function Neural Network

摘要：

　　Take serial robot with six DOF for example.On the basis of analyzing the characteristics of RBF neural network,inverse kinematics calculation of arc welding robot was achieved by RBF of six-input and single output.The forward and inverse kinematics could be seen as a nonlinear mapping between the joint space and the operation space of the robot.Take the algorithm based on RBF.Acquire RBF centers by the nearest neighbor clustering algorithm.The inverse kinematics of robot was solved.Through learning the training samples of the positive solutions to determine weight coefficient of neural network,the robots pose could be accurately solved.The example shows that the algorithm has the characteristics of simple calculation and effective solution,etc.The cumbersome derivation of traditional methods is avoided.It can be seen as kinematics trajectory tracking controller of serial mechanism system.

关键词： Six degrees of freedom robot Radial basis function neural network Inverse kinematics nearest neighbor clustering algorithm tracking

作者: Dezheng Song Chao Yun

作者单位: School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China

会议类型: 国际会议

会议名称: The 9th International Conference on History of Mechanical Technology and Mechanical Design (第9届中日机械技术史及机械设计国际会议(ICHMTMD 2012))

会议地点: 台湾

会议语种:英文

页码: 247-250

在线出版日期: 2012-03-23（万方平台首次上网日期，不代表论文的发表时间）