BP networks based trajectory planning and inverse kinematics of a reconfigurable Mars rover
文献类型：会议论文
| 作者 | Zhang LP(张力平); Ma SG(马书根) ; Li B(李斌); Zhang Z(张政); Zhang GW(张国伟); Cao BG(曹秉刚)
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| 出版日期 | 2005 |
| 会议名称 | 2nd International Symposium on Neural Networks |
| 会议日期 | May 30-June 1, 2005 |
| 会议地点 | Chongqing, China |
| 页码 | 247-252 |
| 中文摘要 | The inverse kinematics of series manipulators presents an inherent complexity due to their various structures and kinematics constraints. To a novel reconfigurable Mars rover's arm, the inverse kinematics had been solved by numerical method combined with space geometry relations, but the complex calculating process can not be utilized in real-time control. In this paper, some actions in common use are programmed in the child rover, and the BP neural network was used to solve the inverse kinematics and trajectory planning. To a desired trajectory, some solutions by direct kinematics algorithms and geometry relations corresponding to the trajectory were used as the BP network's training data set, and the non-linear mapping from joint-variable space to operation-variable space was obtained with iterative training and learning method. The results show the output of training is consistent with the desired path, and the obtained reference trajectory is smooth. |
| 收录类别 | SCI ; EI ; CPCI（ISTP） |
| 产权排序 | 2 |
| 会议主办者 | Chongqing Univ, SW Normal Univ, Chongqing Univ, Posts& Telecommun, SW Agr Univ, Chongqing Educ Coll, Chinese Univ Hong Kong, Asia Pacific Neural Network Assembly, European Neural Network Soc, IEEE Circuits & Syst Soc, IEEE Computat Intelligence Soc, Natl Nat Sci Fdn China, K C Wong Educ Fdn Hong Kong |
| 会议录 | ADVANCES IN NEURAL NETWORKS - ISNN 2005, PT 3, PROCEEDINGS
 |
| 会议录出版者 | SPRINGER-VERLAG |
| 会议录出版地 | BERLIN |
| 语种 | 英语 |
| ISSN号 | 0302-9743 |
| ISBN号 | 3-540-25914-7 |
| WOS记录号 | WOS:000230167700039 |
| 研究领域[WOS] | Computer Science |
| WOS标题词 | Science & Technology ; Technology |
| 源URL | [http://ir.sia.cn/handle/173321/8599]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Zhang LP,Ma SG,Li B,et al. BP networks based trajectory planning and inverse kinematics of a reconfigurable Mars rover[C]. 见:2nd International Symposium on Neural Networks. Chongqing, China. May 30-June 1, 2005. |
入库方式： OAI收割
来源：沈阳自动化研究所
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