基于RBF神经网络的机械手轨迹规划及运动仿真研究-机械电子工程专业论文.docxVIP

ABSTRACT Robot’s trajectory planning is very important in the control of robotics．Based on demands and restrictions of AS—MRobot6 manipulator,this paper presents a novel method of trajectory planning．By the researching processes of concrete analysis of trajectory planning on robot’s manipulator aim，imitation of trajectory based on kinematics and optimization of trajectory in the articulation space，this paper establishes two models according to RBF neural networks algorithm，one is used for curve interpolation in operation space and the other is used for curve approximation in articulate space．