计算机与数字工程2016，Vol.44Issue(3)：409-413,424,6.DOI:10.3969/j.issn.1672-9722.2016.03.006
基于RBF神经网络的机器人平滑圆弧轨迹规划磁
Trajectory Planning of Robotic Smooth Arc Based on RBF Neural Network
辛大欣 1刘少贞1
作者信息
- 1. 西安工业大学电子信息工程学院西安 710021
- 折叠
摘要
Abstract
To solve problem that the convergence and stability of the arc interpolation algorithm is not ideal ,this paper proposes a circular trajectory planning method based on RBF neural network .From the point of view of kinematics ,the nor‐mal inverse kinematics problem of four axis robot is analyzed ,and the mathematical model of D‐H and 3D model is estab‐lished .Through the space 3 points of circular arc track ,the parameter equation of space circular arc is obtained .In the Mat‐lab software ,emulating the trajectory of the circular interpolation algorithm based in RBF neural network planning ,the re‐sults show that the trajectory planning of RBF neural network is smooth and stable ,the convergence speed is fast and the ap‐proximation error is small .So the feasibility and necessity of RBF neural network for robot trajectory planning are proved .关键词
机器人/轨迹规划/圆弧/RBF神经网络Key words
robot/trajectory planning/arc/RBF neural network分类
信息技术与安全科学引用本文复制引用
辛大欣,刘少贞..基于RBF神经网络的机器人平滑圆弧轨迹规划磁[J].计算机与数字工程,2016,44(3):409-413,424,6.
