Neural network learning from hint for the cyclic motion of the constrained redundant arm

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2006, Issue , 2006, Pages 3679-3684

  Assal, Samy F M ^a  

^a SAGA UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

INVERSE KINEMATICS; LEARNING ALGORITHMS; LYAPUNOV METHODS; MANIPULATORS; MOTION PLANNING; NEURAL NETWORKS; ROBOTIC ARMS; VECTORS;

CYCLIC TRAJECTORIES; FUZZY NEURAL NETWORK (FNN); LYAPUNOV FUNCTIONS;

LEARNING SYSTEMS;

EID: 33845644189     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2006.1642264     Document Type: Conference Paper

References (13)

1. C. A. Klein and C. Huang, "Review of pseudoinverse control for use with kinematically redundant manipulators," IEEE Trans. on Syst., Man, and Cyber., vol. SMC-13, no. 3, pp. 245-250, March/April 1983.
2. T. Shamir and Y. Yomdin, "Repeatability of redundant manipulators: mathematical solution of the problem," IEEE Trans. on Automatic Control, vol. 33, no. 11, pp. 1004-1009, Nov. 1988.
3. C. A. Klein and K. Kee, "The nature of drift in pseudoinverse control of kinematically redundant manipulators," IEEE Trans. Robot. and Automat., vol. 5, no. 2, pp. 231-234, April 1989.
4. S. Luo and S. Ahmad, " Predicting the drift motion for kinematically redundant robots," IEEE Trans. on Syst., Man, and Cyber., vol. 22, no. 4, pp. 717-728, July/August 1992.
5. J. Baillieul, "Kinematic programming alternatives for redundant manipulators," in Proc. of IEEE Int. Conf. Robot, and Automat., 1985, pp. 722-728.
6. H. Seraji, "Configuration control of redundant manipulators: Theory and implementation," IEEE Trans. on Robot, and Automat., vol. 5, no. 4, pp. 472-490, Aug. 1989.
7. Y. Zhang, J. Wang, and Y. Xia, "A dual neural network for redundancy resolution of kinematically redundant manipulators subject to joint limits and joint velocity limits," IEEE Trans. Neural Networks, vol. 14, no. 3, pp. 658-667, May 2003.
8. S. F. M. Assal, K. Watanabe, and K. Izumi, "Neural network learning from hint for the inverse kinematics problem of redundant arm subject to joint limits," in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2005, pp. 821-826.
9. S. F. M. Assal, K. Watanabe, and K. Izumi "Exploring motion acquisition of manipulators with multiple degrees-of-redundancy using soft computing techniques," in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2004, pp. 3086-3091.
10. C. M. Bishop, Neural Networks for Pattern Recognition, Oxford: Oxford University Press, pp. 207-208, 1995.
11. M. I. Jordan, "Computational aspects of motor control and motor learning," in Handbook of Perception and Action, ser. Motor Skills, H. Heuer and S. W. Keele, Eds, New York: Academic, vol. 2, 1996.
12. M. I. Jordan and D. E. Rumelhart, "Forward models: Supervised learning with a distal teacher," Cognitive Science, vol. 16, no. 3, pp. 307-354, 1992.
13. D. DeMers and K. Kreutz-Delgado, "Global regularization of inverse kinematics for redundant manipulators ," in Advances in Neural Information Processing Systems, S. J. Hanson, J. D. Cowan, and C. L. Giles, Eds. San Mateo, CA: Morgan Kaufmann, Vol. 5, 1993, pp. 255-262.