DocumentCode
2638716
Title
Learning of inverse-dynamics and inverse-kinematics for two-link SCARA robot using neural networks
Author
Onozato, Ken ; Maeda, Yutaka
Author_Institution
Kansai Univ., Suita
fYear
2007
fDate
17-20 Sept. 2007
Firstpage
1031
Lastpage
1034
Abstract
In this paper, we describe position control of a SCARA robot using two neural networks. The simultaneous perturbation method is used for the learning of these neural networks. Two networks learn inverse kinematic and inverse dynamic respectively. Some results will be shown.
Keywords
compliance control; industrial manipulators; learning (artificial intelligence); manipulator dynamics; manipulator kinematics; neurocontrollers; position control; robotic assembly; NN learning; inverse-dynamics learning; inverse-kinematics learning; neural networks; position control; selective compliance assembly robot arm; simultaneous perturbation method; two-link SCARA robot; Inverse problems; Kinematics; Layout; Neural networks; Perturbation methods; Position control; Recurrent neural networks; Robot control; Robot sensing systems; Service robots; Inverse Kinematics; Inverse dynamics; Inverse problem; Neural networks; SCARA robot; Simultaneous Perturbation;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE, 2007 Annual Conference
Conference_Location
Takamatsu
Print_ISBN
978-4-907764-27-2
Electronic_ISBN
978-4-907764-27-2
Type
conf
DOI
10.1109/SICE.2007.4421135
Filename
4421135
Link To Document