Title :
CMAC toward intelligent robot: motion and calibration
Author :
Hwang, H. ; Choi, D.
Author_Institution :
Dept. of Agric. Eng., Sungkyunkwan Univ., Seoul, South Korea
Abstract :
The cerebellar model arithmetic controller (CMAC), a kind of neuro-net based adaptive control function generator, has been successfully applied to the problems of inverse kinematic motion of two DOF manipulator and direct inverse calibration of three and six DOF PUMA 560 robots. Since CMAC-net autonomously maps and generalizes a desired system function via learning, CMAC allows no knowledge in modeling a system and other error sources. The mapping structure, learning aspects with algorithms, and the convergence of CMAC net are also briefly stated
Keywords :
adaptive control; artificial intelligence; calibration; learning systems; neural nets; position control; robots; PUMA 560; adaptive control; artificial intelligence; calibration; cerebellar model arithmetic controller; convergence; error sources; function generator; intelligent robot; inverse kinematic motion; learning; neural nets; structure mapping; Biological system modeling; Biological systems; Biology computing; Brain modeling; Calibration; Convergence; Intelligent robots; Kinematics; Neural networks; Organisms;
Conference_Titel :
Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on
Conference_Location :
Ibaraki
DOI :
10.1109/IROS.1990.262433
