机械科学与技术2001，Vol.20Issue(2)：166-168,3.
基于神经网络的冗余度四面体变几何桁架机器人位置控制
Position Control of Redundant Tetrahedron Variable Geometry Truss Manipulators Based on Neural Network
摘要
Abstract
A position control scheme for redundant tetrahedron based variable geometry truss manipulators is proposed based on two BP neural networks. The constraint conditions that is the minimum of change of joint variables are set and the objective function of optimization is defined. Based on it, the position control model of redundant tetrahedron based variable geometry truss manipulators is established. The simulation study of position control system for a four-celled tetrahedron variable geometry truss manipulator is carried out.关键词
冗余度四面体变几何桁架机器人/BP神经网络/位置控制分类
信息技术与安全科学引用本文复制引用
徐礼钜,雷勇..基于神经网络的冗余度四面体变几何桁架机器人位置控制[J].机械科学与技术,2001,20(2):166-168,3.基金项目
国家自然科学基金资助项目 （）
