Mechanical Engineering Commons^™

Hierarchical Neurocontroller Architecture For Robotic Manipulation, Xavier J. R. Avula, Luis C. Rabelo

Chemical and Biochemical 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 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