DocumentCode :
1969628
Title :
Neural network control of a robotic manipulator arm for undersea applications
Author :
Westerman, Abby W.
Author_Institution :
Naval Ocean Syst. Center, San Diego, CA, USA
fYear :
1991
fDate :
15-17 Aug 1991
Firstpage :
161
Lastpage :
167
Abstract :
A lightweight, direct-drive undersea testbed manipulator arm was configured for integration and subsequent evaluation of neural network technologies. The author reports them initial results of an artificial neural network model used to control this undersea manipulator. An iterative trajectory generator for the manipulator (constrained to planar motion) using a backpropagation network is described. It provided the intermittent desired joint angles given the relative position information about the arm and the target. This work built upon the extended work of D. Sobajic and L. Pao, (1988). The author discusses a preliminary neural network architecture which learns the internal and controller model for the undersea manipulator arm. This control structure was inspired by the work of D. Nguyen and B. Widrow, (1990). Although this work is still underway, preliminary tests are encouraging, and are aimed at satisfying the adaptive capability necessary for operating in an unstructured ocean environment
Keywords :
marine systems; mobile robots; neural nets; backpropagation network; control structure; direct-drive undersea testbed manipulator arm; intermittent desired joint angles; iterative trajectory generator; neural network architecture; relative position; robotic manipulator arm; undersea applications; undersea manipulator; unstructured ocean environment; Artificial neural networks; Biological system modeling; Hardware; Manipulator dynamics; Neural networks; Oceans; Programmable control; Remotely operated vehicles; Robot control; Underwater cables;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Neural Networks for Ocean Engineering, 1991., IEEE Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-0205-2
Type :
conf
DOI :
10.1109/ICNN.1991.163342
Filename :
163342
Link To Document :
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