现代制造工程Issue(9)：60-65,6.DOI:10.16731/j.cnki.1671-3133.2025.09.008
基于渐进式BP神经网络的蛇形机械臂逆运动学求解方法
Inverse kinematics solution of snake-arm robot based on progressive BP neural network
徐湘融 1马国梁 1许立松 2王天涯1
作者信息
- 1. 南京理工大学能源与动力工程学院,南京 210094
- 2. 南京理工大学自动化学院,南京 210094
- 折叠
摘要
Abstract
Aiming at the slow convergence and large error issues in solving the inverse kinematics of a snake-arm robot using tra-ditional BP neural networks,a progressive BP neural network inverse kinematics solution was proposed.Firstly,a forward kine-matics model was established.Then,the principle of optimal compliance was introduced.A weighted sum of joint angle changes was used as the penalty term in the loss function,ensuring continuity and smoothness of the joint angle changes in the robot's joint movements.Finally,based on the constraints between the joints of the snake-arm robot,a BP neural network model with a hierar-chical progressive structure was constructed to improve the solving speed.Simulation results show that the progressive BP neural network achieves high accuracy and fast convergence,effectively solving the inverse kinematics problem of the snake-arm robot.关键词
蛇形机械臂/逆运动学/BP神经网络Key words
snake-arm robot/inverse kinematics/BP neural network分类
信息技术与安全科学引用本文复制引用
徐湘融,马国梁,许立松,王天涯..基于渐进式BP神经网络的蛇形机械臂逆运动学求解方法[J].现代制造工程,2025,(9):60-65,6.
