For the pose error analysis of a polishing robot,on the basis of Vittorio granularity coding method,an improved genetic neural BP network combining binary with real-value coding is proposed with the network architecture and weight vectors optimized.

• 针对某打磨机器人的位姿误差分析,提出一种采用二进制和实数值混合编码的遗传BP网络法,同时优化网络结构和权值矢量;