Contiguration Control of the Truss-Type Parallel Manipulator by the Modular Neural Network Model
スポンサーリンク
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 inverse kinematic problem involving kinematic redundancy with the multilayered neural network model. This neural network model is prepared to provide the kinematic relation of the manipulator as well as the criterion function for the configuration and/or motion control. A concept of the modular neural network is employed to cope with the immensity of the network, in which a neural network module is constructed separately for each kinematic module. This modular neural 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
- 1992-03-15
著者
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TANAKA Masao
Department of Surgery and Oncology, Graduate School of Medical Sciences, Kyushu University
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Seguchi Yasuyuki
Department Of Mechariical Engineering Faculty Of Engineering Stience 0saka University
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Seguchi Yasuyuki
Department Of Mechanical Engineering Faculty Of Engineering Science Osaka University
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HANAHARA Kazuyuki
Mechanical Engineering Course, Division for Research of Engineering Science, Graduate School Osaka U
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Tanaka Masao
Department Of Hematology And Immunology Kanazawa Medical University
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Hanahara K
Kobe Univ. Kobe Jpn
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Tanaka Masao
Department Of Endoclinology Noguchi Thyroid Clinic And Hospital Foundation
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Tanaka Masao
Department Of Mechariical Engineering Faculty Of Engineering Stience 0saka University
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Tanaka Masao
Department Of Biology Faculty Of Science Kyushu University
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