モジュール形ニューラルネットワークモデルによるトラス形高冗長並列アームの姿勢制御

概要

論文の詳細を見る
A new control method for the truss-type parallel manipulator is proposed by a neural network approach. The proposed method solves the problem of the inverse kinematics involving the kinematic redundancy with the multi-layered neural network model. This network model is prepared to install the kinematics relationship of the manipulator as well as the criteria functions for the configuration and motion control. A concept of the modular network is employed to cope with the hugeness of the network, in which a network module is prepared separately for each kinematic module. This modular network approach enables the network system for the configuration control to be adopted for various combinations of truss modules. Some simulation studies demonstrate the effectiveness and the potential capability of the proposed method.
一般社団法人日本機械学会の論文
1991-01-25