Solve the Problem of the Inverse Kinematics of Robots Based on CMAC Neural Network
Zhong Li-dong · Modular Machine Tool & Automatic Manufacturing Technique · 2005
Because the solving of the Inverse Kinematics of Robots is complicated,before the inverse neural network had been applied to solve the problem ,whose weights and bias was gotten through the genetic algorithm or the approved back propagated algorithm. However this method needed us to limit or reselect the training data to meet the demand of the existence of the inverse mapping. As a result it is infeasible for the complex system for which it is very difficult or impossible to provide the right training data. Therefore the new method based on CMAC neural network and constraint condition is used to solve the problem of the inverse kinematics of robots, and the results show it is good at solving this problem. Furthermore, the proposed method is widely applied to solve the Inverse Solution of the complex system whose mathematical model is too complixated to solve or unkown for us at present .