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Learning of inverse-dynamics and inverse-kinematics for two-link SCARA robot using neural networks

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2 Author(s)
Onozato, K. ; Kansai Univ., Suita ; Maeda, Y.

In this paper, we describe position control of a SCARA robot using two neural networks. The simultaneous perturbation method is used for the learning of these neural networks. Two networks learn inverse kinematic and inverse dynamic respectively. Some results will be shown.

Published in:

SICE, 2007 Annual Conference

Date of Conference:

17-20 Sept. 2007