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《Journal of Shandong University(Engineering Science)》 2008-05
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Study on inverse kinematics of a robot based on an ant colony-neural network algorithm

MEI Hong,WANG Yong,ZHAO Rong-qi(School of Mechanical Engineering,Shandong University,Jinan 250061,China)  
A new way to build a model of inverse kinematics of a robot was proposed.A neural network was used to express the nonlinear function between input and output of the inverse kinematics of the robot.Then an ant colony algorithm was used to learn neural network.Because an ant colony algorithm was used for discrete optimization,the basic ant colony algorithm was modified.The modified ant colony algorithm consists of global search,local search and definite search. It was used as a new way to learn a neural network.This new way has the merits of both the ant colony algorithm and neural network.Its validity was proved by an example.Both speed and precision were improved.
【Fund】: 国家自然科学基金资助项目(50775130);; 山东省自然科学基金资助项目(Y2002F13)
【CateGory Index】: TP242
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