Adaptive kinematic control apparatus

Details Adaptive kinematic control apparatus Adaptive kinematic control apparatus

1994-04-28

1996-11-26

Downs, Robert W.

Robots

Counterbalance

395 80, 395 86, 395 96, 901 9, 901 15, 364165, 31836811, G05B 1904

Patent

active

055794424

ABSTRACT:
A network is provided in which the direct model of the controlled target is learned, and an actuation amount for realizing a target control amount is generated using this network in accordance with the relaxation algorithm. A recognizing network and a prediction network are provided, wherein the recognition result of the recognizing network is input to the prediction network, and the prediction result of the predicting network is fed back to the recognizing network. Moreover, the predicting network is utilized so as to generate a command relating to the motion in accordance with the relaxation algorithm.

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patent: 5276771 (1994-01-01), Manukian et al.
patent: 5294873 (1994-03-01), Seraji
Craig, "Intro to Robotics . . . ," Addison Wesly, 1989, pp. 353-358.
Azhar, et al, "Adaptive Control . . . " Euromicro workshop, 1992, pp. 351-358.
Wilhelmsen, et al "Neural Network . . . " 1990 IEEE Conf. pp. III-407 to III-413.

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