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Mechanical Engineering Commons

Open Access. Powered by Scholars. Published by Universities.®

1991

Missouri University of Science and Technology

Hierarchical Neural Network

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Full-Text Articles in Mechanical Engineering

Intelligent Control Of A Robotic Arm Using Hierarchical Neural Network Systems, Xavier J. R. Avula, Luis C. Rabelo Jan 1991

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 ...