Study on the inverse kinematics of redundant scanning robot based on RBF network

The RBF (radial basis function) network adopted transformed the solution of inverse kinematics into the training process of network weights. For selecting the center of RBF network, an orthogonal least square (OLS) algorithm, which can avoid oversize dimensions of RBF network and value ill conditioning, was utilized. Meanwhile, a lot of forward kinematical results were applied as the training data set of RBF network, with which the inverse kinematics results of joint variables were obtained.