DocumentCode :
3469619
Title :
Neuromorphic sensing and control-applications to position, force, and impact control for robotic manipulators
Author :
Fukuda, Toshio ; Shibata, Takanori ; Kosuge, Kazuhiro ; Arai, Fumihito ; Tokito, M. ; Mitsuoka, Toyokazu
Author_Institution :
Dept. of Mech. Eng., Nagoya Univ., Japan
fYear :
1991
fDate :
11-13 Dec 1991
Firstpage :
162
Abstract :
The authors present a neural network (NN)-based approach for sensing and control of a robotic manipulator. They corroborate the effectiveness of the proposed approach for impact control of a robotic manipulator. Collisions are very quick phenomena and have strong nonlinearity. Therefore, it is difficult to sense collisions and to control the robotic manipulator undergoing collisions. The proposed approach has robustness against the impact force. It also has effectiveness in sensing and recognition of collisions by using a proximity sensor. In this case, the NN-based control can acquire desirable manipulation of its own accord, so as to avoid the impact
Keywords :
force control; neural nets; position control; robots; collision recognition; force control; impact control; neural network; neuromorphic control; neuromorphic sensing; position control; proximity sensor; robotic manipulators; Control systems; Force control; Force sensors; Manipulator dynamics; Manipulators; Motion control; Neural networks; Neuromorphics; Robot control; Robot sensing systems; Robustness; Sensor phenomena and characterization; Service robots; Uncertainty;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 1991., Proceedings of the 30th IEEE Conference on
Conference_Location :
Brighton
Print_ISBN :
0-7803-0450-0
Type :
conf
DOI :
10.1109/CDC.1991.261278
Filename :
261278
Link To Document :
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