A research on inverse kinematics solution of 6-DOF robot with offset-wrist based on Adaboost neural network

摘要

Adaboost has been verified as an effective algorithm that improves the performance of weak learning algorithms which are slightly better than random guessing. In this paper, we use Adaboost based feed forward neural network to solve the inverse kinematics of 6 Degrees-of-Freedom (DOF) robot with offset-wrist. The algorithm aims to overcome the dilemma that most robots with offset wrists can only be solved by numerical methods in low efficiency. Experiments indicate the algorithm has a good performance in both accuracy and stability by reducing more than 70% of the average error and over 80% of the variance, and the generalization ability of the strategy is quite effective by testing through severe cases.