Full-Text Search:
Home|Journal Papers|About CNKI|User Service|FAQ|Contact Us|中文
《Electric Machines and Control》 2007-03
Add to Favorite Get Latest Update

Inverse kinematic in SCARA manipulator based on RBF networks

RONG Pan-xiang1,2,YANG Jing2,HU Lin-guo2,MA Guang-fu1 (1.School of Automation,Harbin Institute of Technology,Harbin 150001,China;2.School of Automation,Harbin University of Science and Technology,Harbin 150080,China)  
In this article we have provided a method of neural networks based on radial basis functions which is also named solving method of RBF(Radial Basis Function)neural network to deal with inverse kinematic.This method used some forward kinematic results of SCARA robot which Harbin Kelida Co,Ltd provided as training samples,and mapping from workspace to joint space was obtained with iterative training,then calculation of inverse kinematic was achieved.It avoided complex process of formula deduction and programming calculation,its derivation was simple and its character of real time was good.
【CateGory Index】: TP242
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
©2006 Tsinghua Tongfang Knowledge Network Technology Co., Ltd.(Beijing)(TTKN) All rights reserved