Name
Abstract | ||
|---|---|---|
Abstract A neural map algorithm has been employed to control a five-joint pneu- matic robot arm and gripper through feedback from two video cameras. The pneumatically driven robot arm,(SoftArm) employed,in this inves- tigation shares essential mechanical characteristics with skeletal muscle systems. To control the position of the arm, 200 neurons formed a net- work representing the three-dimensional workspace embedded,in a four- dimensional system of coordinates from the two cameras, and learned a three-dimensional set of pressures corresponding to the end eector,posi- tions, as well as a set of 3◊4 Jacobian matrices for interpolating between these positions. The gripper orientation was achieved through adaptation of a 1 ◊ 4 Jacobian matrix for a fourth joint. Because of the properties of the rubber-tube actuators of the SoftArm, the position as a function of supplied pressure is nonlinear, nonseparable, and exhibits hysteresis. Nevertheless, through the neural network learning algorithm the position could be controlled to an accuracy of about one pixel ( 3 mm) after two hundred,learning steps and the orientation could be controlled to two pixels after eight hundred learning steps. This was achieved through employment,of a linear correction algorithm using the Jacobian matrices mentioned above. Applications of repeated corrections in each position- |
Year | DOI | Venue |
|---|---|---|
1994 | 10.1109/21.259683 | IEEE Transactions on Systems, Man, and Cybernetics |
Keywords | DocType | Volume |
feedback,learning (artificial intelligence),manipulators,neural nets,position control,1×4 Jacobian matrix,3×4 Jacobian matrices,SoftArm,biological visuo-motor control,five-joint pneumatic robot arm,four-dimensional system,gripper,learning algorithm,linear correction algorithm,neural map algorithm,neural network control,pneumatic robot arm,robust control algorithm,three-dimensional workspace | Journal | 24 |
Issue | ISSN | Citations |
1 | 0018-9472 | 26 |
PageRank | References | Authors |
7.54 | 6 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ted Hesselroth | 1 | 32 | 8.48 |
| Kakali Sarkar | 2 | 184 | 18.03 |
| P. Patrick Van Der Smagt | 3 | 274 | 35.19 |
| Klaus Schulten | 4 | 2161 | 467.19 |