Title :
Dynamic process programming for a robotic manipulator based on Hopfield NN monotonous optimization searching
Author :
Yu, Zhongwei ; Chen, Huitang ; Wang, Yuejuan ; Woo, Peng-Yung
Author_Institution :
Electr. Eng. Dept, Tongji Univ., Shanghai, China
Abstract :
A new approach to programming the optimal dynamic process for an n-joint rigid robotic manipulator with the use of the monotonous optimization searching ability of a Hopfield neural network is presented. By combining robotic dynamics, this paper designs a programmed controller which satisfies the aforementioned dynamic process. The convergence of the programmed controller is investigated. Simulations and experiments demonstrate the effectiveness of the scheme described
Keywords :
Hopfield neural nets; manipulator dynamics; neurocontrollers; optimisation; programmed control; search problems; step response; tracking; Hopfield neural network; dynamics; optimization; programmed controller; robotic manipulator; search problem; step response; tracking; Control systems; Convergence; Dynamic programming; Force control; Manipulator dynamics; Neural networks; Optimal control; Process control; Robot control; Robot programming;
Conference_Titel :
American Control Conference, 2001. Proceedings of the 2001
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-6495-3
DOI :
10.1109/ACC.2001.945933
