제어로봇시스템학회:학술대회논문집
- 1995.10a
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- Pages.65-68
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- 1995
A solution of inverse kinematics for manipulator by self organizing neural networks
- Takemori, Fumiaki (Faculty of Engineering, Tottori Univ.) ;
- Tatsuchi, Yasuhisa (Daiichi Kogyo Co.,Ltd.) ;
- Okuyama, Yoshifumi (Faculty of Engineering, Tottori Univ.) ;
- Kanabolat, Ahmet (Faculty of Engineering, Tottori Univ.)
- Published : 1995.10.01
Abstract
This paper describes trajectory generation of a riobot arm by self-organizing neural networks. These neural networks are based on competitive learning without a teacher and this algorithm which is suitable for problems in which solutions as teaching signal cannot be defined-e.g. inverse dynamics analysis-is adopted to the trajectory generation problem of a robot arm. Utility of unsupervised learning algorithm is confirmed by applying the approximated solution of each joint calculated through learning to an actual robot arm in giving the experiment of tracking for reference trajectory.