제어로봇시스템학회:학술대회논문집
- 1989.10a
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- Pages.144-148
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- 1989
신경회로망에 의한 로보트의 역 기구학 구현
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.
Keywords