Research of the Robot Arm Gravity Compensation based on the Genetic Algorithm for Optimization of Neural Network
By adopting a genetic algorithm for optimization of neural network,the gravity compensation for robot arm is researched.Firstly,through the basic knowledge of mechanics and D-H parameter to set up robot kinematics model,the theoretical computation formula of the gravity item of each joint torque in...
| Main Authors: | , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2017-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.02.008 |