한국공작기계학회:학술대회논문집 (Proceedings of the Korean Society of Machine Tool Engineers Conference)
- 한국공작기계학회 2001년도 춘계학술대회 논문집(한국공작기계학회)
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- Pages.239-243
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- 2001
PSD 및 역전파 알고리즘를 이용한 AM1 로봇의 제어 시스템 설계
Design of AM1 Robot Control System Using PSD and Back Propagation Algorithm
초록
Neural networks are used in the framework of sensorbased tracking control of robot manipulators. They learn by practice movements the relationship between PSD (an analog Position Sensitive Detector) sensor readings for target positions and the joint commands to reach them. Using this configuration, the system can track or follow a moving or stationary object in real time. Furthermore, an efficient neural network architecture has been developed for real time learning. This network uses multiple sets of simple backpropagation networks one of which is selected according to which division (corresponding to a cluster of the self-organizing feature map) in data space the current input data belongs to. This lends itself to a very training and processing implementation required for real time control.
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