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Appl. Sci. 2017, 7(10), 969;

A Precise Positioning Method for a Puncture Robot Based on a PSO-Optimized BP Neural Network Algorithm

1,2,3,4,* , 1,2,4,* , 1,3,* and 1,2,4
The Department of Automation, University of Science and Technology of China, Hefei 230026, China
Key Laboratory of Special Robot Technology of Jiangsu Province, Hohai University, Changzhou 213000, China
School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, China
Institute of Intelligent Manufacturing Technology, Jiangsu Industrial Technology Research Institute, Nanjing 211800, China
Authors to whom correspondence should be addressed.
Received: 18 July 2017 / Revised: 12 September 2017 / Accepted: 18 September 2017 / Published: 21 September 2017
(This article belongs to the Special Issue Bio-Inspired Robotics)
Full-Text   |   PDF [3898 KB, uploaded 21 September 2017]   |  


The problem of inverse kinematics is fundamental in robot control. Many traditional inverse kinematics solutions, such as geometry, iteration, and algebraic methods, are inadequate in high-speed solutions and accurate positioning. In recent years, the problem of robot inverse kinematics based on neural networks has received extensive attention, but its precision control is convenient and needs to be improved. This paper studies a particle swarm optimization (PSO) back propagation (BP) neural network algorithm to solve the inverse kinematics problem of a UR3 robot based on six degrees of freedom, overcoming some disadvantages of BP neural networks. The BP neural network improves the convergence precision, convergence speed, and generalization ability. The results show that the position error is solved by the research method with respect to the UR3 robot inverse kinematics with the joint angle less than 0.1 degrees and the output end tool less than 0.1 mm, achieving the required positioning for medical puncture surgery, which demands precise positioning of the robot to less than 1 mm. Aiming at the precise application of the puncturing robot, the preliminary experiment has been conducted and the preliminary results have been obtained, which lays the foundation for the popularization of the robot in the medical field. View Full-Text
Keywords: inverse kinematics; PSO algorithm; BP neural network; precise localization; puncturing robot inverse kinematics; PSO algorithm; BP neural network; precise localization; puncturing robot

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Jiang, G.; Luo, M.; Bai, K.; Chen, S. A Precise Positioning Method for a Puncture Robot Based on a PSO-Optimized BP Neural Network Algorithm. Appl. Sci. 2017, 7, 969.

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