AN ACCURATE SOLUTION TO THE INVERSE KINEMATIC PROBLEM OF A ROBOT MANIPULATOR BASED ON THE NEURAL NETWORK

摘要

In this paper, IKP of the robot manipulator is solved by using BP neural network and the forward kinematic model. To improve the accuracy of the solution, an iterative approach is used to compensate for the offset error. Numerical results have shown that the accurate solutions can be obtained by performing only a few iteration steps and the computation speed can meet the requirements for the robot's real time control system.