Research of Kinematics of Redundant Mobile Manipulator Based On RBF Neural Network
The research of redundant robot kinematics has always been a hot and difficult point in robot re-search.The traditional inverse kinematics solution for the redundant mobile robotic manipulator is difficult and poor in real time.Taking the self-developed JNPF-4WD-02 mobile manipulator as the research object,it pro-poses a redundant kinematic analysis method for mobile manipulator.The inverse solution of the mobile manipu-lator based on the optimal flexibility criterion of the joints is trained as the sample of the RBF neural network,and simulation experiments are carried out on the trained RBF neural network model.The experimental results show that this mobile manipulator kinematics research method is accurate and reliable,thus providing a new method for inverse kinematics research of redundant mobile manipulator.
mobile manipulatorkinematicsgenetic algorithmneural networksimulation
NETL
NSTL
万方数据
