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Table online neural control of systems with closed kinematic chains

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3 Author(s)
Randall, M.J. ; Fac. of Eng., Univ. of the West of England, Bristol, UK ; Winfield, A.F.T. ; Pipe, A.G.

The neural control of robotic systems with closed kinematic chains is discussed and theorems guaranteeing the control stability of such systems are developed. The first class of systems have a single serial chain with a prescribed contact force when moving across a surface, i.e. the problem of hybrid position/force neural control. The second class of systems considered includes hexapod walking machines, which have a varying topology of closed kinematic chains during walking. The equations of motion can be solved by optimising contact forces according to a predefined cost function, and so the hybrid/position neural controller is extended to this class. A novel control structure which makes no initial assumptions about the system is also presented, using the concept of `virtual neural networks'. This approach can be applied to a large number of different systems, and it is also extended to include neural networks implemented on digital microprocessors

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Control Theory and Applications, IEE Proceedings -  (Volume:147 ,  Issue: 6 )