Redundant robot kinematics control based on neural network 基于神經(jīng)網(wǎng)絡(luò)的冗余度機(jī)器人運(yùn)動(dòng)學(xué)控制
The development of the motion control technique includes four phases : kinematics control, dynamic control, motion controller based control and motion capture technique 運(yùn)動(dòng)控制技術(shù)的發(fā)展基本上經(jīng)歷了以下四個(gè)階段:運(yùn)動(dòng)學(xué)控制、動(dòng)力學(xué)控制、基于控制器的運(yùn)動(dòng)控制和運(yùn)動(dòng)捕獲技術(shù)。
In this dissertation, based on the 6 hexaglide and stewart platform vamt, the kinematics control strategies were researched, in order to find the practical and accepted solutions 本文以目前主要存在的滑塊式和stewart平臺(tái)虛擬軸機(jī)床為研究對(duì)象,從尋求實(shí)用、便于實(shí)現(xiàn)的控制策略角度出發(fā),對(duì)其運(yùn)動(dòng)控制進(jìn)行了研究。