Trajectory Planning of Robotic Smooth Arc Based on RBF Neural Network
XIN Daxin
LIU Shaozhen
Abstract：To solve problem that the convergence and stability of the arc interpolation algorithm is not ideal ,this paper proposes a circular trajectory planning method based on RBF neural network .From the point of view of kinematics ,the nor‐mal inverse kinematics problem of four axis robot is analyzed ,and the mathematical model of D‐H and 3D model is estab‐lished .Through the space 3 points of circular arc track ,the parameter equation of space circular arc is obtained .In the Mat‐lab software ,emulating the trajectory of the circular interpolation algorithm based in RBF neural network planning ,the re‐sults show that the trajectory planning of RBF neural network is smooth and stable ,the convergence speed is fast and the ap‐proximation error is small .So the feasibility and necessity of RBF neural network for robot trajectory planning are proved .
Keywords：robottrajectory planningarcRBF neural network
Publication Date：2016-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 409-413,424 )