基于改进型BP网络的并联机器人自适应力控制_陈丽敏.pdfVIP

22 5 2005 5 : 1006- 9348( 2005) 05- 0199- 03 BP 陈丽敏 ( , 157009) : , , , , BP , , 6- SPS , BP , , . : ; ; :TP24 :A Adaptive Control of ParallelRobots BasedonImproved BPNeuralNetwork CHEN Li- min ( M danjiang Normal College,M danjiang Heilongjiang 157009, China) ABSTRACT:The force control of the parallel robot is a hot and hard topic in the research field of parallel robot.There are a lot of researchers foc s attention on the topic and have obtained some good res lts. B t they all researched this topic based on the traditional method. In this paper , the a thor introd ces a ne ral network into the force control of pallel robot, a kind of improved ne ral network and analyzes its learning algorithm.We then designed an adaptive force controller for the act al par allel robots- 6sps parallel robot based on the ne ral network mentioned above. Sim lation and experiment both prove that the controller designed is feasible and effective. KEY ORDS:Ne ral network; Parallel robot; Adaptive force control 1 , , , , , , , , 2 BP , , BP ( Back Propagation) BP , , , , , , , : , , , , BP , ; , : , , , , , , ; ,