Hierarchical neurocontroller architecture for intelligent robotic manipulation

Author

Rabelo, Luis C. ; Avula, Xavier J R

Author_Institution

Missouri Rolla Univ., MO, USA

fYear

1991

fDate

9-11 Apr 1991

Firstpage

2656

Abstract

A hierarchical neurocontroller architecture consisting of two artificial neural network systems for the manipulation of a robotic arm is presented. The higher-level neural system participates in the delineation of the robot arm workspace and coordinates transformation and the motion decision-making process. The lower one provides the correct sequence of control actions. The capabilities, including speed, adaptability, and computational efficiency, of the developed architecture are illustrated by an example

Keywords

hierarchical systems; neural nets; position control; robots; adaptability; artificial neural network systems; computational efficiency; control actions sequence; delineation; hierarchical neurocontroller architecture; higher-level neural system; intelligent robotic manipulation; motion decision-making process; speed; transformation; workspace; Artificial intelligence; Artificial neural networks; Computational modeling; Decision making; Intelligent robots; Manipulators; Motion analysis; Neurocontrollers; Robot control; Robot kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Conference_Location

Sacramento, CA

Print_ISBN

0-8186-2163-X

Type

conf

DOI

10.1109/ROBOT.1991.132030

Filename

132030