A Precise Positioning Method for a Puncture Robot Based on a PSO-Optimized BP Neural Network Algorithm
作者： Guanwu Jiang , Minzhou Luo , Keqiang Bai , Saixuan Chen
DOI: 10.3390/APP7100969
关键词:
摘要: The problem of inverse kinematics is fundamental in robot control. Many traditional solutions, such as geometry, iteration, and algebraic methods, are inadequate high-speed solutions accurate positioning. In recent years, the based on neural networks has received extensive attention, but its precision control convenient needs to be improved. This paper studies a particle swarm optimization (PSO) back propagation (BP) network algorithm solve UR3 six degrees freedom, overcoming some disadvantages BP networks. improves convergence precision, speed, generalization ability. results show that position error solved by research method with respect joint angle less than 0.1 output end tool mm, achieving required positioning for medical puncture surgery, which demands precise 1 mm. Aiming at application puncturing robot, preliminary experiment been conducted have obtained, lays foundation popularization field.
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