On Designing a Robot Manipulator Control System using Immunized Recurrent Neural Network

면역화된 귀환 신경망을 이용한 로보트 매니퓰레이터 제어 시스템 설계

In this paper we will develope the immnized recurrent neural network control system of a robot manipulator with high robustness in dynamically changing environment conditions. Immune system detects and eliminates the non-self materials called antigen such as virus, bacteria and so on which come from inside and outside of the living system, so plays an important role in maintaining its own system against dynamically changing environments. We apply this concept to a robot manipulator and evaluate the effectiveness of the above proposed system.