• DocumentCode
    1600537
  • Title

    Planning and control of a robotic manipulator using neural networks

  • Author

    Rabelo, Luis Carlos ; Avula, Xavier J R ; Ma, Heng ; Malkani, Anil ; Tsai, Jay-Shinn

  • Author_Institution
    Dept. of Ind. & Syst. Eng., Ohio Uiv., Athens, OH, USA
  • fYear
    1992
  • Firstpage
    306
  • Abstract
    An architecture which utilizes two artificial neural systems for planning and control of a robotic arm is presented. The first neural network system participates in the trajectory planning and the motion decision-making process. The second neural network system provides the correct sequence of control actions with a high accuracy due to the utilization of an unsupervised/supervised neural network scheme. The utilization of a hybrid hierarchical/distributed organization, supervised/unsupervised learning models, and forward modeling yielded an architecture with capabilities of high level functionality
  • Keywords
    distributed control; learning (artificial intelligence); neural nets; path planning; robots; forward modeling; functionality; hybrid hierarchical/distributed organization; motion decision-making process; neural networks; robot arm control; robotic manipulator; supervised/unsupervised learning models; trajectory planning; Artificial neural networks; Control systems; Decision making; Manipulators; Motion planning; Neural networks; Process planning; Robot control; Trajectory; Unsupervised learning;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control Applications, 1992., First IEEE Conference on
  • Conference_Location
    Dayton, OH
  • Print_ISBN
    0-7803-0047-5
  • Type

    conf

  • DOI
    10.1109/CCA.1992.269858
  • Filename
    269858