loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Yutaka Maeda ; Nobutaka Kitajima ; Tsubasa Inagaki and Hidenori Onishi

Affiliation: Kansai University, Japan

Keyword(s): Simultaneous perturbation, neural networks, control, robot arm, dynamics, kinematics.

Abstract: We report two control schemes for a two-link robot arm system using a neuro-controller. We adopted the simultaneous perturbation learning rule for a neuro-controller. Ordinary gradient type of learning rule uses Jacobian of the objective system in a direct control scheme by a neural network. However, the learning rule proposed here requires only two values of an error function.Without Jacobian or related information of the objective robot arm, the neuro-controller can learn an inverse of robot kinematics and dynamics, simultaneously. Some results are shown.

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 18.188.218.184

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Maeda, Y.; Kitajima, N.; Inagaki, T. and Onishi, H. (2004). Neuro-Controller with Simultaneous Perturbation for Robot Arm Learning of Kinematics and Dynamics without Jacobian. In Proceedings of the First International Workshop on Artificial Neural Networks: Data Preparation Techniques and Application Development (ICINCO 2004) - ANNs; ISBN 972-8865-14-7, SciTePress, pages 16-22. DOI: 10.5220/0001149200160022

@conference{anns04,
author={Yutaka Maeda. and Nobutaka Kitajima. and Tsubasa Inagaki. and Hidenori Onishi.},
title={Neuro-Controller with Simultaneous Perturbation for Robot Arm Learning of Kinematics and Dynamics without Jacobian},
booktitle={Proceedings of the First International Workshop on Artificial Neural Networks: Data Preparation Techniques and Application Development (ICINCO 2004) - ANNs},
year={2004},
pages={16-22},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001149200160022},
isbn={972-8865-14-7},
}

TY - CONF

JO - Proceedings of the First International Workshop on Artificial Neural Networks: Data Preparation Techniques and Application Development (ICINCO 2004) - ANNs
TI - Neuro-Controller with Simultaneous Perturbation for Robot Arm Learning of Kinematics and Dynamics without Jacobian
SN - 972-8865-14-7
AU - Maeda, Y.
AU - Kitajima, N.
AU - Inagaki, T.
AU - Onishi, H.
PY - 2004
SP - 16
EP - 22
DO - 10.5220/0001149200160022
PB - SciTePress

- Science and Technology Publications, Lda.
RESOURCES

Proceedings

Papers

Authors

Ontology

CONTACTS

Science and Technology Publications, Lda
Avenida de S. Francisco Xavier, Lote 7 Cv. C,
2900-616 Setúbal, Portugal.

Phone: +351 265 520 185 (National fixed network call)
Fax: +351 265 520 186
Email: info@scitepress.org

EXTERNAL LINKS

PRIMORIS

INSTICC

SCITEVENTS

CROSSREF

PROCEEDINGS SUBMITTED FOR INDEXATION BY:

dblp

Ei Compendex

SCOPUS

Semantic Scholar

Google Scholar

Microsoft Academic