Kinematics Analysis of 7-DOF Upper Limb Rehabilitation Robot Based on BP Neural Network

摘要

To solve the inverse kinematics problem of 7-DOF upper limb rehabilitation training robot, propose a new solution method based on BP neural network . Taking a 7-DOF upper limb rehabilitation training robot as the research object, carry out the forward kinematics analysis , establish the BP neural network model for solving the inverse kinematics and improve the neural network. Finally, MATLAB is used to simulate and verify, the simulation results show that the improved BP neural network model can solve the inverse kinematics of 7-DOF upper limb rehabilitation training robot, avoid the complex problem of traditional inverse solution calculation, and the solution process is simple; compared with the standard BP neural network, the learning convergence speed is faster and the solution precision is higher, so it is a feasible 7-DOF inverse kinematics solution method for upper limb rehabilitation training robot.