Intelligent control of a Stanford JPL hand attached to a 4 DOF robot arm

Author

Challoo, Rajab ; Johnson, James P. ; McLauchlan, Robert A. ; Omar, S. Iqbal

Author_Institution

Intelligent Control Syst. Lab., Texas A&M Univ., Kingsville, TX, USA

Volume

2

fYear

1994

fDate

2-5 Oct 1994

Firstpage

1274

Abstract

An intelligent control system for use with a robot arm and an attached Stanford JPL hand is being developed. This project includes the design of a robot arm for a Stanford JPL hand. The arm has 4 degrees of freedom and consists of a shoulder, an elbow, and a wrist. The fingers of the Stanford hand each have 4 motors attached to the “tendons” which are used to control the movements of the three links of the three finger. The two neural networks used in this intelligent control system are the bidirectional associative memory and adaptive resonance theory (ART 2)

Keywords

ART neural nets; associative processing; content-addressable storage; intelligent control; manipulators; ART 2; Stanford JPL hand; adaptive resonance theory; bidirectional associative memory; intelligent control system; neural networks; robot arm; Adaptive control; Associative memory; Elbow; Fingers; Intelligent control; Intelligent robots; Neural networks; Programmable control; Shoulder; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1994. Humans, Information and Technology., 1994 IEEE International Conference on

Conference_Location

San Antonio, TX

Print_ISBN

0-7803-2129-4

Type

conf

DOI

10.1109/ICSMC.1994.400020

Filename

400020