Title :
A neural controller for collision-free movement of general robot manipulators
Author :
Graf, Daryl H. ; LaLonde, Wilf R.
Author_Institution :
Carleton Univ., Ottawa, Ont., Canada
Abstract :
An approach is presented for the collision-free control of general robot manipulators moving among a changing set of obstacles. The controller, based on a layered, neural network architecture, adapts to the specific eye/hand and arm/body kinematics of any arbitrarily shaped robot during an initial, unsupervised training phase. After training, the robot selects a target point by ´glancing´ at it and the controller moves the end-effector into position. This approach, which combines neural and systolic computing principles, has several advantages over traditional algorithmic solutions and extends previous work on neural manipulator control. Results of a simulation are presented.<>
Keywords :
learning systems; neural nets; position control; robots; collision-free control; kinematics; learning systems; neural computing; neural controller; neural nets; neural network architecture; position control; robot manipulators; systolic computing; unsupervised training phase; Learning systems; Neural networks; Position control; Robots;
Conference_Titel :
Neural Networks, 1988., IEEE International Conference on
Conference_Location :
San Diego, CA, USA
DOI :
10.1109/ICNN.1988.23831
