Motoman机器人的运动学建模及基于BP网络的IKP研究

建立了Motoman六自由度机器人运动学模型，在该模型的基础上提出了两种解决机器人逆解问题的方法。第一种方法是利用机器人自由度分布的特点推导出一种新的解析解，该法推导过程和解的表达式都非常简单．易于遥操作机器人的仿真和控制。第二种方法利用6个相同结构的BP网络和正解模型直接实现从工作空间到关节空间的非线性映射，避免了解析法中的多解问题，计算结果表明，该法计算精度较高且计算速度快。本文方法可以直接运用到具有相同自由度分布的机器人上。

Research on kinematics modeling and inverse kinematics problem based on BP netwoks of Motoman robot

A general kinematics model of Motoman robot with 6-degrees-of-freedom was established, two new kinds of method on inverse kinematics problem were presented. In first method, analytic solutions were deduced by particularity of degree of freedom distributing of robot. The deducing process and expression of solutions were very simple,so it was suitable for control and simulation of telerobotics. In second method, the nonlinear mapping from joint-variable-space to operation-variable-space was obtained by using six BP neural networks and the forword kinematic model,avoiding several solutions in analytic method . Numerical results have shown that the accurate solutions and the high computation speed can be obtained. Furthermore, the proposed methods can be used directly in the robot system with the same degree of freedom distributing.