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Hierarchical Neurocontroller Architecture For Intelligent Robotic Manipulation, Xavier J. R. Avula, Luis C. Rabelo
Hierarchical Neurocontroller Architecture For Intelligent Robotic Manipulation, Xavier J. R. Avula, Luis C. Rabelo
Mechanical and Aerospace Engineering Faculty Research & Creative Works
A hierarchical neurocontroller architecture consisting of two artificial neural network systems for the manipulation of a robotic arm is presented. The higher-level neural system participates in the delineation of the robot arm workspace and coordinates transformation and the motion decision-making process. The lower one provides the correct sequence of control actions. The capabilities, including speed, adaptability, and computational efficiency, of the developed architecture are illustrated by an example.