Inverse Kinematics Solution of Manipulator for the Steel Plate Bending Forming by Line Heating Based on SVM and GA

机译：基于SVM和GA的线加热钢板弯曲成形机械手的运动学反解。

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摘要

According to craft requirements of bending forming by line heating,the paper analyzes kinematics of manipulator,presents the method of building model on inverse kinematics combining Support Vector Machine(SVM) with Genetic Algorithm(GA),elaborates on design ideas and algorithm process of the method,and realizes simulation of inverse kinematics.Simulation results show that the method can improve precision which achieving a good solution of inverse kinematics.

机译：根据线加热弯曲成形的工艺要求，对机械臂的运动学进行了分析，提出了结合支持向量机（SVM）和遗传算法（GA）的逆运动学模型建立方法，阐述了机器人的设计思想和算法过程。仿真结果表明，该方法可以提高精度，可以很好地解决逆运动学问题。

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来源
《International conference on mechatronics technology》|2012年|415-418|共4页
会议地点 Tianjin(CN)
作者
Liang Qi; Yan Li;
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作者单位

Laboratory of Span-Scale Design and Manufacturing, Jiangsu University, Zhenjiang, China;

School of Electronics and Information Engineering, Jiangsu University of Science and Technology, Zhenjiang, China;

School of Electronics and Information Engineering, Jiangsu University of Science and Technology, Zhenjiang, China;

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会议组织
原文格式 PDF
正文语种 eng
中图分类 TH15;
关键词
inverse kinematics; manipulator; support vector machine (SVM); genetic algorithm (GA);

机译：逆运动学；机械手；支持向量机（SVM）；遗传算法（GA）;

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1. Analysis of Bending Deformation in Triangle Heating of Steel Plates with Induction Heating Process Using Laminated Plate Theory [J] . T.-T. Nguyen, Y.-S. Yang, Kang-Yul Bae Mechanics Based Design of Structures and Machines . 2009,第2期

机译：层板理论分析感应加热钢板三角加热中的弯曲变形。
2. A genetic algorithm approach to a neural-network-based inverse kinematics solution of robotic manipulators based on error minimization [J] . K?ker R. Information Sciences: An International Journal . 2013,第Null期

机译：基于误差最小化的机械手基于神经网络的逆运动学遗传算法
3. A genetic algorithm approach to a neural-network-based inverse kinematics solution of robotic manipulators based on error minimization [J] . K?ker R. Information Sciences: An International Journal . 2013,第Null期

机译：基于误差最小化的机械手基于神经网络的逆运动学遗传算法
4. Inverse Kinematics Solution of Manipulator for the Steel Plate Bending Forming by Line Heating Based on SVM and GA [C] . Liang Qi, Yan Li International conference on mechatronics technology . 2012

机译：基于SVM和GA的线加热钢板弯曲成型机械手的逆运动学解
5. Application of fuzzy logic for the solution of inverse kinematics and hierarchical controls of robotic manipulators. [D] . Howard, David William. 1997

机译：模糊逻辑在机器人反向运动学和分级控制中的应用。
6. Solution of Inverse Kinematics for 6R Robot Manipulators With Offset Wrist Based on Geometric Algebra [O] . Zhongtao Fu, Wenyu Yang, Zhen Yang -1

机译：基于几何代数的6R机械手偏移机器人逆运动学解决方案
7. A Closed-Form Solution for the Inverse Kinematics of the 2n-DOF Hyper-Redundant Manipulator Based on General Spherical Joint [O] . Ya’nan Lou, Pengkun Quan, Haoyu Lin, 2021

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Inverse Kinematics Solution of Manipulator for the Steel Plate Bending Forming by Line Heating Based on SVM and GA

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