Connectionist-genetic based algorithm for positioning industrial manipulator
Neural Network Applications in Electrical Engineering（2012）
摘要
In this paper the solution of inverse kinematics problem and positioning of the industrial manipulator (ROBED03) with five degrees of freedom are presented. The algorithm is based on combination of Artificial Neural Networks (ANN) and Genetic Algorithm (GA).ANN was used for rough positioning providing the inputs for GA which performs precise adjustment. The algorithm was successfully tested in robot's working space.
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关键词
genetic algorithms,industrial manipulators,inverse problems,manipulator kinematics,neural nets,position control,ann,ga,robed03,artificial neural networks,connectionist-genetic based algorithm,genetic algorithm,industrial manipulator,inverse kinematics problem,precise adjustment,rough positioning,inverse kinematics,neural network and robot kinematics
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