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本文首先阐述了克服局部极小的BP算法，并将其用于机器人控制，避免了求解复杂的机器人控制方程，取得了满意的仿真效果。证实了改进算法能够迅速跳出局部极小，具有一定的容错性，鲁棒性。
In this paper, we first describe the BP algorithm that overcomes the local minima and apply it to the robot control, which avoids solving the complicated robot control equations and achieves satisfactory simulation results. It proves that the improved algorithm can jump out of local minutiae quickly and has some fault tolerance and robustness.