Title :
Endpoint position control using biological concepts
Author :
Smith, Kelly Ann ; Littman, Michael G.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Princeton Univ., NJ, USA
Abstract :
A biologically inspired algorithm is refined for position control of a multilink robotic manipulator. In this approach, changes in joint angles are computed by a method of successive forward approximation in a manner that is naturally parallel and very simple. Improvements to the algorithm provide nearly uniform convergence for all motions regardless of direction and location in the workspace. Neural networks may be used to further improve trajectory control
Keywords :
approximation theory; convergence of numerical methods; manipulators; position control; biological concepts; biologically inspired algorithm; endpoint position control; multilink robotic manipulator; nearly uniform convergence; successive forward approximation; trajectory control; Aerospace engineering; Biology computing; Concurrent computing; Convergence; Delay; Humans; Manipulators; Neural networks; Position control; Robots;
Conference_Titel :
Intelligent Control, 1993., Proceedings of the 1993 IEEE International Symposium on
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-1206-6
DOI :
10.1109/ISIC.1993.397704
