Inverse kinematics solution for 6R serial manipulator based on RBF neural network

摘要: Calculation of 6R serial manipulator's inverse kinematics is a highly complex nonlinear mapping problem. As the process calculating concerned, these traditional algorithms, like transformation, geometry, pieper solution, etc., are very complex, and they often involve in problem multiple solutions singularity. So, calculation efficiency low. Artificial Neural Network (ANN) has great advantage solving problems mapping, parallel processing, self-adaptive, fast, efficient handling multivariable system, etc. ANN been widely used to solve redundant robotic manipulators. This paper adopts RBF-based neural network manipulator. From final simulation, we can find that, by using this new algorithm, it give an accurate solution fast with high efficiency. Apart from these, when practice, also reflects perfect performance.