Two artificial neural network systems are considered in a hierarchical fashion to plan the trajectory and control of a robotic arm. At the higher level of the hierarchy the neural system consists of four networks: a restricted Coulomb energy network to delineate the robot arm workspace; two standard backpropagation (BP) networks for coordinates transformation; and a fourth network which also uses BP and participates in the trajectory planning by cooperating with other knowledge sources. The control emulation process which is developed using a second neural system at a lower hierarchical level provides the correct sequence of control actions. An example is presented to illustrate the capabilities of the developed architectures.

Meeting Name

Seattle International Joint Conference on Neural Networks, 1991


Chemical and Biochemical Engineering

Keywords and Phrases

Backpropagation; Control Emulation Process; Hierarchical Neural Network; Intelligent Control; Knowledge Sources; Learning Systems; Neural Nets; Planning (Artificial Intelligence); Position Control; Restricted Coulomb Energy Network; Robotic Arm; Robots; Trajectory Planning

Document Type

Article - Conference proceedings

Document Version

Final Version

File Type





© 1991 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.

Publication Date

01 Jan 1991