SOLVING INVERSE KINEMATICS OF REDUNDANT MANIPULATOR BASED ON NEURAL NETWORK
MaGuang, ReFujun · 中国机械工程学报 · 2003
For the redundant manipulators, neural network is used to tackle the velocity inverse kinematics of robot manipulators. The neural networks utilized are multi-layered perceptions with a back-propagation training algorithm. The weight table is used to save the weights solving the inverse kinematics based on the different optimization performance criteria. Simulations verify the effectiveness of using neural network.