Spraying robot kinematics analysis based on BP neural network

Abstract

In this paper, we use the five-degrees-of-freedom spraying robot as the research object which is in the process of development in our laboratory. Robot kinematics is analyzed in order to solve the control problem. Each link coordinate system is established using the D-H method. The transformation matrix between the connecting links is calculated. Then we get the kinematics equations of the robot, and build its model in Matlab environment to verify the correctness of the equations. At last BP neural network is used to solve the inverse kinematics problem. The result is satisfactory after repeated training and validation.