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如何理解ZNN（zeroing neural network）神经网络？ - 知乎
znn零化神经网络—在机器人冗余控制及关节故障轨迹跟踪上的应用，视频效果如下：
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零化神经网络ZNN及其在机器人上的应用 - 知乎 - 知乎专栏
冗余机械臂 重复运动规划旨在消除冗余机械臂重复执行末端封闭轨迹任务时的关节角漂移现象，具体地，希望机械臂各关节角在一个任务周期结束后，仍然回到期望起始角度。 每个任务周期以同一初始关节状态运行，可避免机械臂产生非期望的关节轨迹，有助于封闭轨迹重复作业的安全运行。 机械臂轨迹规划的基本做法是基于机械臂运动学模型，通过给定的期望末端笛卡尔位置求取合适的关节角度。 考虑n自由度冗余机械臂，其关节角度和末端执行器位置关系如下： 其中，r (t)为t …
如何理解ZNN（zeroing neural network）神经网络？ - 知乎
所谓的 Zeroing Neural Network 就是阉割过的 PID算法，然后套个激活函数故弄玄虚，和主流的神经网络，机器学习没什么联系。 几个圈子里的老师常年拿这个网络互相引用炒冷饭，在SCI1区2区灌水。 马上毕业了，先预告一下，有空会介绍一下这个坑人的神经网络，能劝退一个是一个。 正在思考中... 该研究的方向和意义体现在哪些方面？