A neural network-based classification of environment dynamics models for compliant control of manipulation robots.

A neural network-based classification of environment dynamics models for compliant control of manipulation robots. Research Abstract Details 

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A neural network-based classification of environment dynamics models for compliant control of manipulation robots. Abstract Text:

D Katic,M Vukobratovic,

In this paper, a new method for selecting the appropriate compliance control parameters for robot machining tasks based on connectionist classification of unknown dynamic environments, is proposed. The method classifies the type of environment by using multilayer perceptron, and then, determines the control parameters for compliance control using the estimated characteristics. An important feature is that the process of pattern association can work in an on-line mode as a part of selected compliance control algorithm. Convergence process is improved by using evolutionary approach (genetic algorithms) in order to choose the optimal topology of the proposed multilayer perceptron. Compliant motion simulation experiments with robotic arm placed in contact with dynamic environment, described by the stiffness model and by the general impedance model, have been performed in order to verify the proposed approach.

A neural network-based classification of environment dynamics models for compliant control of manipulation robots. Publishing Authors By Initials

D Katic,M Vukobratovic,

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A neural network-based classification of environment dynamics models for compliant control of manipulation robots. Journal Published:

PUBLICATION TYPE: Journal Article

Journal: IEEE transactions on systems, man, and cybernetics

VOLUME: 28

Page Numbers: 58-69

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ISSN: 1083-4419

DAY: 7

MONTH: 02

YEAR: 1998

A neural network-based classification of environment dynamics models for compliant control of manipulation robots. Information

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LANGUAGE: eng

NlmUniqueID: 9890044

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Grant and Affiliation Information for A neural network-based classification of environment dynamics models for compliant control of manipulation robots.

AFFILIATION: Mihajlo Pupin Inst., Belgrade.

Country: United States

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MEDLINETA: IEEE Trans Syst Man Cybern B C

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