Kinematics Research of 6R Arc Welding Robot Based on Radial Basis Function Neural Network

摘要

Take serial robot with six DOF for example.On the basis of analyzing the characteristics of RBF neural network,inverse kinematics calculation of arc welding robot was achieved by RBF of six-input and single output.The forward and inverse kinematics could be seen as a nonlinear mapping between the joint space and the operation space of the robot.Take the algorithm based on RBF.Acquire RBF centers by the nearest neighbor clustering algorithm.The inverse kinematics of robot was solved.Through learning the training samples of the positive solutions to determine weight coefficient of neural network,the robot's pose could be accurately solved.The example shows that the algorithm has the characteristics of simple calculation and effective solution,etc.The cumbersome derivation of traditional methods is avoided.It can be seen as kinematics trajectory tracking controller of serial mechanism system.