Patent
1993-09-21
1996-09-10
Davis, George B.
395 22, 395901, 395903, G06F 1518, G06F 1500
Patent
active
055553478
ABSTRACT:
A robot controller for an articulated robot, in which a joint angle vector indicating target joint angles of respective joints of the robot is calculated based on a target position matrix indicating a desired target position, and the robot is controlled ill accordance with the joint angle vector. The robot controller is further provided with a neural network for compensating the target position so as to reduce the positioning error. The learning operation of the neural network is repeatedly carried out at predetermined intervals during the operation of the robot. The target position may be preliminarily compensated using a mathematical model.
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Komura Katsuhiro
Yoneda Takao
Davis George B.
Toyoda Koki Kabushiki Kaisha
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