DESIGN AND IMPLEMENTATION OF AN ARTIFICIAL NEURAL BASED CONTROL SYSTEM NETWORK FOR A MOVEMASTER ROBOTIC ARM

被引：0

作者：

Ramirez, Camilo Andres Gutierrez ^{[1
]}

Beltran Garcia, Diego Felipe ^{[1
]}

Montoya Gomez, Jairo Orlando ^{[1
]}

机构：

[1] Univ La Salle, Fac Ingn Diseno & Automat Elect, Bogota, Colombia

来源：

INGENIERIA SOLIDARIA | 2009年 / 5卷 / 09期

关键词：

kinematics; intelligent control; neural network; workspace;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

The project aims at finding an optimum displacement level with which, the five degree of freedom, MoveMaster robot may move its joints when determining an appropriate trajectory to reach a specific point. To achieve this end we implemented a neural network based smart system that stores all the possible rotations done by the handler needed to reach a specific point, determining optimum movement while avoiding collision with the robot. A mathematical model was developed to obtain the equations that would identify the handler, and which will be used to train the neural network and the system's control.

引用

页码：68 / 74

页数：7