Title :
Integration of a robust trajectory planner with a feedforward neural controller for robotic manipulators
Author :
Janabi-Sharifi, F. ; Fahry, H.H.H. ; Wilson, W.J.
Author_Institution :
Dept. of Electr. & Comput. Eng., Waterloo Univ., Ont., Canada
Abstract :
This paper deals with the integration of a real-time trajectory planner and neural network (CMAC) based controller with on-line learning for robotic manipulators in the presence of obstacles. The effectiveness of the integrated system is verified by simulations for the first two links of the Adept-One robot
Keywords :
feedforward neural nets; learning (artificial intelligence); manipulators; path planning; position control; Adept-One robot; CMAC; feedforward neural controller; neural network based controller; obstacles; online learning; real-time trajectory planner; robotic manipulators; robust trajectory planner; Manipulators; Motion control; Motion planning; Orbital robotics; Robot control; Robot kinematics; Robot sensing systems; Robotics and automation; Robust control; Trajectory;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351079
