Movement trajectory generating method of a dynamical system

Details Movement trajectory generating method of a dynamical system Movement trajectory generating method of a dynamical system

1990-01-03

1991-02-05

Shoop, Jr., William M.

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

31856813, 318573, 364513, 36457105, 901 15, G06F 1520

Patent

active

049908383

ABSTRACT:
A movement trajectory generating system of a dynamical system uses neural network units (1, 2, 3) including cascade connection of a first layer (11, 21, 31), a second layer (12, 22, 32), a third layer (13, 23, 33) and a fourth layer (14, 24, 34), to learn a vector field of differential equations indicating forward dynamics of a controlled object (4). Conditions concerning trajectories of a final point and a via-point of movement of the controlled object and locations of obstacles are given from a motor center (5). While smoothness of movement is ensured by couplings of electric synapses using errors with respect to those conditions as total energy, least dissipation of energy is attained, whereby trajectory formation and control input for realizing the trajectory are obtained simultaneously.

REFERENCES:
patent: 3950733 (1976-04-01), Cooper et al.
patent: 4796199 (1989-01-01), Hammerstrom et al.
patent: 4852018 (1989-07-01), Grossberg et al.
patent: 4860215 (1989-08-01), Seraji
patent: 4884216 (1989-11-01), Kuperstein
patent: 4897811 (1990-01-01), Scofield

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