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
Link To Document