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《Mechanical & Electrical Engineering Magazine》 2003-02
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Study on BP Networks-based Inverse Kinematics of MOTOMAN Manipulator

ZHANG Pei-yan, LV Tian-sheng, SONG Li-bo(College of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200030, China)  
This paper discusses the application of the BP network in inverse kinematics of MOTOMAN manipulator. Some forward kinematics results were used as training data set in the BP network and the nonlinear mapping from joint-variable-space to operation-variable space was obtained with iterative training and learning method.
【CateGory Index】: TP242
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