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

Meeting Name

41st IAS Annual Meeting of the Industry Applications Conference, 2006

Department(s)

Chemical and Biochemical Engineering

Keywords and Phrases

Adaptability; Computational Efficiency; Computational Speed; Control Action Sequence; Coordinates Transformation; Hierarchical Neurocontroller Architecture; Hierarchical Systems; Motion Decision-Making Process; Neural Nets; Neural Networks; Parallel Architectures; Robot Arm Workspace Delineation; Robotic Arm; Robotic Manipulation; Robots

International Standard Serial Number (ISSN)

0272-1708

Document Type

Article - Journal

Document Version

Final Version

File Type

text

Language(s)

English

Rights

© 1992 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.

Full Text Link

Share

 
COinS