Title :
Hierarchical neurocontroller architecture for robotic manipulation
Author :
Rabelo, Luis C. ; Avula, Xavier J R
Author_Institution :
Dept. of Ind. & Syst. Eng., Ohio Univ., Athens, OH, USA
fDate :
4/1/1992 12:00:00 AM
Abstract :
A hierarchical neurocontroller architecture consisting of two artificial neural network systems for the manipulation of a robotic arm is presented. The higher-level network system participates in the delineation of the robot arm workspace and coordinates transformation and the motion decision-making process. The lower-level network provides the correct sequence of control actions. A straightforward example illustrates the architecture´s capabilities, including speed, adaptability, and computational efficiency.<>
Keywords :
hierarchical systems; neural nets; parallel architectures; robots; adaptability; computational efficiency; computational speed; control action sequence; coordinates transformation; hierarchical neurocontroller architecture; motion decision-making process; neural nets; robot arm workspace delineation; robotic arm; robotic manipulation; Artificial neural networks; Computational modeling; Decision making; Manipulators; Neural networks; Neurocontrollers; Robot control; Robot kinematics; Service robots; Temperature;
Journal_Title :
Control Systems, IEEE
