Inverse kinematics solution of Robotics based on neural network algorithms

• Published in: Journal of ambient intelligence and humanized computing Vol. 11; no. 12; pp. 6199 - 6209
• Main Author: Gao, Ruihua
• Format: Journal Article
• Language: English
• Published: Berlin/Heidelberg Springer Berlin Heidelberg 01.12.2020; Springer Nature B.V
• Subjects: Actuators; Algorithms; Artificial Intelligence; Attitude control; Back propagation networks; Computational Intelligence; Dynamic models; Engineering; Inverse kinematics; Inverse problems; Iterative methods; Kinematics; Mathematical analysis; Neural networks; Original Research; Robotics; Robotics and Automation; Simulation; User Interfaces and Human Computer Interaction; Improved BP neural network algorithm; Robotics kinematics inverse solution algorithm; Learning rate; Excitation function
• ISSN: 1868-5137; 1868-5145
• DOI: 10.1007/s12652-020-01815-4

The rapid development of artificial intelligence technology makes Robotics more intelligent and flexible. In this context, the kinematics inverse algorithm of the Robotics has become the basis and key technology for the further development of the Robotics. The key point of the inverse algorithm of the Robotics is to coordinate the Robotics operation arm with the corresponding action actuator at the end to realize the space attitude control of the Robotics system, and to make a theoretical basis for the motion analysis of the later Robotics. However, the traditional form of Robotics kinematics inverse algorithm avoids a lot of iterative computational solution process, which increases the complexity of the whole algorithm. Therefore, based on the above situation, this paper proposes a Robotics inverse solution algorithm based on improved BP (back propagation) neural network. In this paper, in the application of the actual algorithm, aiming at the convergence problem of the traditional BP neural network algorithm, an improved BP neural network algorithm based on the excitation function is proposed. By selecting the adaptive processing function in each layer of the neural network, the selection is matched with it. The learning rate, thus improving the accuracy of the entire motion inverse algorithm. At the same time, in order to further reduce the calculation of joint quantification, this paper also creatively introduces the algorithm of plane division auxiliary dynamic model construction. The simulation results show that the inverse kinematics algorithm based on improved BP neural network proposed in this paper has obvious advantages in solving the kinematics inverse problem of six-degree-of-freedom Robotics compared with the traditional inverse solution algorithm.