Hierarchical neurocontroller architecture for robotic manipulation

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