신경회로망에 의한 로보트의 역 기구학 구현

  • 이경식 (포항공과대학 전자전기공학과) ;
  • 남광희 (포항공과대학 전자전기공학과)
  • Published : 1989.10.01

Abstract

We solve the inverse kinematics problems in robotics by employing a neural network. In the practical situation. it is not easy to obtain the exact inverse kinematics solution, since there are many unforeseen errors such as the shift of a robot base the link's bending, et c. Hence difficulties follow in the trajectory planning. With the neural network, it is possible to train the robot motion so that the robot follows the desired trajectory without errors even under the situation where the unexpected errors are involved. In this work, Back-Propagation rule is used as a learning method.

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