Manipulator Trajectory Control by Momentum Change Inverse Models Using Multilayer Neural Networks
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- HORI Katsuhiro
- Faculty of Engineering, Hokkaido University
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- KAGEYAMA Masaki
- Research & Development Center, Toshiba Co. Ltd.
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- TSUCHIYA Takeshi
- Faculty of Engineering, Hokkaido University
Bibliographic Information
- Other Title
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- 多層型ニューラルネットワークを用いた運動量変化逆モデル学習によるマニピュレータ軌道制御
- タソウガタ ニューラル ネットワーク オ モチイタ ウンドウリョウ ヘンカ ギ
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Description
This paper proposes a learning method of inverse manipulator dynamics model using only position and velocity. The direct inverse modeling method that was proposed as a learning method using neural network requires sensing manipulator position, velocity, and acceleration, because this method is formularized on the basis of manipulator. motion equation. However, since it is difficult at present to sense accurately manipulator acceleration, we could hardly implement this method by original formula. In the momentum change inverse modeling; the learning method that we proposed in this paper, manipulator motion causality is modeled not on the basis of manipulator motion equation but on the manipulator momentum change equation. With this formulation, sensing acceleration becomes unnecessary, inverse manipulator dynamics model can be learned using sensible position and velocity.
Journal
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- Transactions of the Institute of Systems, Control and Information Engineers
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Transactions of the Institute of Systems, Control and Information Engineers 7 (1), 18-25, 1994
THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)
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Details 詳細情報について
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- CRID
- 1390001205165529600
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- NII Article ID
- 10007137680
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- NII Book ID
- AN1013280X
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- ISSN
- 2185811X
- 13425668
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- NDL BIB ID
- 3858558
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed