Cart (Loading....) | Create Account
Close category search window
 

A neural controller for collision-free movement of general robot manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Graf, D.H. ; Carleton Univ., Ottawa, Ont., Canada ; LaLonde, W.R.

An approach is presented for the collision-free control of general robot manipulators moving among a changing set of obstacles. The controller, based on a layered, neural network architecture, adapts to the specific eye/hand and arm/body kinematics of any arbitrarily shaped robot during an initial, unsupervised training phase. After training, the robot selects a target point by 'glancing' at it and the controller moves the end-effector into position. This approach, which combines neural and systolic computing principles, has several advantages over traditional algorithmic solutions and extends previous work on neural manipulator control. Results of a simulation are presented.<>

Published in:

Neural Networks, 1988., IEEE International Conference on

Date of Conference:

24-27 July 1988

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.