Hybrid Control of a Robotic Manipulator by the Neural Network Model (6th Report, Hierarchical Intelligent Control System)

Takanori Shibata; Toshio Fukuda; Kazuhiro Kosuge; Fumihito Arai; Masatoshi Tokita; Toyokazu Mitsuoka

doi:10.1299/kikaic.58.1442

Hybrid Control of a Robotic Manipulator by the Neural Network Model (6th Report, Hierarchical Intelligent Control System)

Takanori Shibata, Toshio Fukuda, Kazuhiro Kosuge, Fumihito Arai, Masatoshi Tokita, Toyokazu Mitsuoka

Research output: Contribution to journal › Article › peer-review

Abstract

In this paper, we present a new scheme for intelligent control of robotic manipulators. This scheme is an integrated approach of the Neuromorphic and Symbolic control, including the applied neural network for the servo control and the knowledge-based approximation. The neural network in the servo level is the numerical manipulation, while the knowledge-based part is the symbolic manipulation. In Neuromorphic control, the neural network compensates the nonlinearity of the system and the uncertainty in environment. The knowledge-base part forms symbolic control strategy for the servo level. This is control system analogous to the human cerebral control structure.

Original language	English
Pages (from-to)	1442-1449
Number of pages	8
Journal	transactions of the japan society of mechanical engineers series c
Volume	58
Issue number	549
DOIs	https://doi.org/10.1299/kikaic.58.1442
Publication status	Published - 1992 Jan 1
Externally published	Yes

Keywords

Artificial Intelligence
Control
Hybrid System
Knowledge Base
Neural Network
Planning
Recognition
Robotics

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

Access to Document

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Hybrid Control of a Robotic Manipulator by the Neural Network Model (6th Report, Hierarchical Intelligent Control System). / Shibata, Takanori; Fukuda, Toshio; Kosuge, Kazuhiro; Arai, Fumihito; Tokita, Masatoshi; Mitsuoka, Toyokazu.

In: transactions of the japan society of mechanical engineers series c, Vol. 58, No. 549, 01.01.1992, p. 1442-1449.

Research output: Contribution to journal › Article › peer-review

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