| 基于蚁群神经网络算法的机器人逆解 |
| |
| 引用本文： | 梅红,王勇,赵荣齐.基于蚁群神经网络算法的机器人逆解[J].山东大学学报(工学版),2008,38(5):72-76. |
| |
| 作者姓名： | 梅红 王勇 赵荣齐 |
| |
| 作者单位： | 山东大学机械工程学院,山东,济南,250361 |
| |
| 基金项目： | 国家自然科学基金资助项目(50775130); 山东省自然科学基金资助项目(Y2002F13) |
| |
| 摘 要： | 提出了一种机器人逆运动学问题建模的新方法.利用神经网络逼近机器人逆运动学的输入与输出、利用改进的蚁群算法学习神经网络.针对蚁群算法主要用于离散优化的特点,对基本的蚁群算法进行了改进,采用了全局搜索、局部搜索和确定性搜索,为连续问题的优化提供了一条新的思路.利用改进的蚁群算法学习神经网络,为神经网络提供了一种新的学习算法，使得该方法兼具了蚁群算法与神经网络的优点.应用实例表明了该方法的有效性,提高了机器人逆运动学求解的速度和精度.
|
| 关 键 词： | 蚁群算法 神经网络 逆运动学 |
| 收稿时间： | 2007-11-22 |
Study on inverse kinematics of a robot based on an ant colony-neural network algorithm |
| |
| MEI Hong,WANG Yong,ZHAO Rong-qi.Study on inverse kinematics of a robot based on an ant colony-neural network algorithm[J].Journal of Shandong University of Technology,2008,38(5):72-76. |
| |
| Authors: | MEI Hong WANG Yong ZHAO Rong-qi |
| |
| Affiliation: | School of Mechanical Engineering, Shandong University, Jinan 250061, China |
| |
| Abstract: | A new way to build a model of inverse kinematics of a robot was proposed.A neural network was used to express the nonlinear function between input and output of the inverse kinematics of the robot.Then an ant colony algorithm was used to learn neural network.Because an ant colony algorithm was used for discrete optimization,the basic ant colony algorithm was modified.The modified ant colony algorithm consists of global search,local search and definite search. It was used as a new way to learn a neural netwo... |
| |
| Keywords: | ant colony algorithm neural network inverse kinematics |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
| 点击此处可从《山东大学学报(工学版)》浏览原始摘要信息 |
|
点击此处可从《山东大学学报(工学版)》下载全文 |
|
