The present invention discloses a robotic arm motion programming method based on a fixed-parameter neural network, including: Si, establishing an inverse kinematics equation of a robotic arm according to a Jacobian matrix and a preset target trajectory of an end of the 5 robotic arm; S2, establishing a physical limit double-ended inequality constraint of the robotic arm according to actual physical limit constraint parameters of joints of the robotic arm; S3, formulating the inverse kinematics equation and the physical limit double-ended inequality constraint as a time-varying quadratic programming problem; S4, designing the fixed-parameter neural network with a penalty function to solve the time-varying quadratic 0 programming problem; and S5, transferring angle information of the robotic arm as solved to a lower computer controller of the robotic arm to drive the robotic arm to move to complete a target trajectory tracking task. The present invention uses a new type of fixed-parameter neural network with a penalty function to solve the time-varying quadratic programming problem, which has faster convergence velocity and higher calculation accuracy, and can 5 effectively solve the inequality constraint in the quadratic programming scheme. Establishinga model of a robotic arm according to structural parameters ofthe robotic arm to obtain a Jacobian matrix of an end effector. and establishing an inverse kinematics equation of the robotic arm according to the Jacobian matrix and a preset target trajectory of an end of the robotic arm Establishing a physical limit double-ended inequality constraint S2 of the robotic arm on a velocity layer according to actual physical limit constraint parameters of joints of the robotic arm Formulating the inverse kinematics equation and the physical S3 limit double-ended inequality constraint as a time-varying quadratic programming problem Designing the fixed-parameter neural network with a penalty S4 function to solve the time-varying quadratic programming problem Transferring angle information of the robotic arm as solved to a S5 lower computer controller of the robotic arm to drive the robotic arm to move to complete a target trajectory tracking task
ROBOTIC ARM MOTION PROGRAMMING METHOD BASED ON FIXED-PARAMETER NEURAL NETWORK