Hierarchical intelligent control for robotic motion

Author

Shibata, Takanori ; Fukuda, Toshio

Author_Institution

Dept. of Mechano-Inf. & Syst., Nagoya Univ., Japan

Volume

5

Issue

5

fYear

1994

fDate

9/1/1994 12:00:00 AM

Firstpage

823

Lastpage

832

Abstract

This paper presents a new scheme for intelligent control of robotic manipulators. This scheme is a hierarchically integrated approach to neuromorphic and symbolic control of robotic manipulators. This includes an applied neural network for servo control and knowledge-based approximation. The neural network in the servo control level is based on a numerical manipulation, while the knowledge based part is symbolic manipulation. The knowledge base part develops control strategies symbolically for the servo level. The neural network compensates for vagueness in the control strategies, nonlinearities of the system and uncertainties in its environment using neuromorphic control

Keywords

hierarchical systems; intelligent control; knowledge based systems; neural nets; position control; robots; symbol manipulation; hierarchical intelligent control; knowledge-based approximation; manipulators; neural network; neuromorphic control; numerical manipulation; robotic motion; servo control; symbolic control; symbolic manipulation; system nonlinearities; uncertainties; vagueness; Control nonlinearities; Control systems; Intelligent control; Intelligent robots; Manipulators; Neural networks; Neuromorphics; Nonlinear control systems; Robot motion; Servosystems;

fLanguage

English

Journal_Title

Neural Networks, IEEE Transactions on

Publisher

ieee

ISSN

1045-9227

Type

jour

DOI

10.1109/72.317733

Filename

317733