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Full-Text Articles in Mechanical Engineering
Planning And Control Of A Robotic Manipulator Using Neural Networks, Xavier J. R. Avula, Heng Ma, Anil Malkani, Jay-Shinn Tsai, Luis C. Rabelo
Planning And Control Of A Robotic Manipulator Using Neural Networks, Xavier J. R. Avula, Heng Ma, Anil Malkani, Jay-Shinn Tsai, Luis C. Rabelo
Chemical and Biochemical Engineering Faculty Research & Creative Works
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.
Intelligent Control Of A Robotic Arm Using Hierarchical Neural Network Systems, Xavier J. R. Avula, Luis C. Rabelo
Intelligent Control Of A Robotic Arm Using Hierarchical Neural Network Systems, Xavier J. R. Avula, Luis C. Rabelo
Chemical and Biochemical Engineering Faculty Research & Creative Works
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 …