DocumentCode
2041200
Title
Learning of inverse-dynamics for SCARA robot
Author
Ishibashi, Naoyuki ; Maeda, Yutaka
Author_Institution
Grad. Sch. of Sci. & Eng., Kansai Univ., Suita, Japan
fYear
2011
fDate
13-18 Sept. 2011
Firstpage
1300
Lastpage
1303
Abstract
In this paper, we describe a positioning control for a SCARA robot using a recurrent neural network. The simultaneous perturbation optimization method is used for the learning rule of the recurrent neural network. Then the recurrent neural network learns inverse dynamics of the SCARA robot. We present details of the control scheme using the simultaneous perturbation. Moreover, we consider an example for two target positions using an actual SCARA robot. The result is shown.
Keywords
learning (artificial intelligence); manipulator dynamics; neurocontrollers; perturbation techniques; position control; recurrent neural nets; SCARA robot; inverse-dynamics learning; positioning control; recurrent neural network; robot inverse dynamics; simultaneous perturbation optimization method; Control systems; Joints; Learning systems; Optimization methods; Recurrent neural networks; Service robots; Inverse dynamics; Inverse problem; Neural network; SCARA robot; Simultaneous perturbation;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE Annual Conference (SICE), 2011 Proceedings of
Conference_Location
Tokyo
ISSN
pending
Print_ISBN
978-1-4577-0714-8
Type
conf
Filename
6060535
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