Study on Layered Intelligent Control for Mobile Manipulator Based on Neural Network

Neural network has some characters, such as distributed storing information, parallel disposing data, self- organization and self-studying. In some aspect, it is near to the method of person dealing with information and has the ability of imitating image thinking of person. This paper utilizes the excellent characteristics of neural network in studying and fault-tolerant, adopting it as the intelligent controller of the layered submitting intelligent system, accordingly, solving the coupling between manipulator and mobile vehicle and compensating the torque in order to realize the coordination movements between manipulator and mobile vehicle of mobile manipulator