DocumentCode
3297464
Title
Planar two-link manipulator control with multiple-synapse neural network controller
Author
Dias Baptista, F.B. ; Cabral, Eduardo Lobo Lustosa
Author_Institution
CNEN, Inst. de Pesquisas Energeticas e Nucl., Sao Paulo, Brazil
fYear
1999
fDate
1999
Firstpage
647
Lastpage
652
Abstract
Presents the position control of a robot manipulator using an artificial neural network. This neural network is based on a neuron model with multiple synapses. The synapses´ connective strengths are modified through a selective and cumulative process that resembles an unsupervised learning method. These concepts applied to the position control of the planar two-link manipulator show excellent results
Keywords
manipulators; neurocontrollers; position control; unsupervised learning; connective strengths; multiple-synapse neural network controller; planar two-link manipulator control; unsupervised learning method; Artificial neural networks; Circuits; Control systems; Manipulators; Neural networks; Neurons; Position control; Robot control; Signal processing; Transfer functions;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE/ASME International Conference on
Conference_Location
Atlanta, GA
Print_ISBN
0-7803-5038-3
Type
conf
DOI
10.1109/AIM.1999.803244
Filename
803244
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