DocumentCode
2657999
Title
Endpoint position control using biological concepts
Author
Smith, Kelly Ann ; Littman, Michael G.
Author_Institution
Dept. of Mech. & Aerosp. Eng., Princeton Univ., NJ, USA
fYear
1993
fDate
25-27 Aug 1993
Firstpage
255
Lastpage
260
Abstract
A biologically inspired algorithm is refined for position control of a multilink robotic manipulator. In this approach, changes in joint angles are computed by a method of successive forward approximation in a manner that is naturally parallel and very simple. Improvements to the algorithm provide nearly uniform convergence for all motions regardless of direction and location in the workspace. Neural networks may be used to further improve trajectory control
Keywords
approximation theory; convergence of numerical methods; manipulators; position control; biological concepts; biologically inspired algorithm; endpoint position control; multilink robotic manipulator; nearly uniform convergence; successive forward approximation; trajectory control; Aerospace engineering; Biology computing; Concurrent computing; Convergence; Delay; Humans; Manipulators; Neural networks; Position control; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control, 1993., Proceedings of the 1993 IEEE International Symposium on
Conference_Location
Chicago, IL
ISSN
2158-9860
Print_ISBN
0-7803-1206-6
Type
conf
DOI
10.1109/ISIC.1993.397704
Filename
397704
Link To Document