A Neural Network System for Calculation of Inverse Dynamics for Manipulators

Motoji Yamamoto, Hisashi Suematsu

研究成果: ジャーナルへの寄稿学術誌査読

抄録

This paper proposes a method to calculate manipulator inverse dynamics using a neural network. In this method, two sets of neural networks are prepared. One is for the elements of inertia moment matrix, and the other is for gravitational force. Each input for the network is only a joint position. Teacher signals of each network are also calculated using only a joint position, and therefore learning of each network is fast. The neural network, which acquires a model of inertia moment matrix, is used to calculate inertial force, centrifugal force and Coriolis force. In particular, the terms of centrifugal force and Coriolis force are calculated using a characteristic of manipulator dynamics and structure of the neural network. This method can be applied to the wide area data of joint positions, joint velocities and joint accelerations to calculate manipulator inverse dynamics. To show the validity of this method, the inverse dynamics of a two-dimensional manipulator are calculated.

本文言語英語
ページ(範囲)839-844
ページ数6
ジャーナルtransactions of the japan society of mechanical engineers series c
59
559
DOI
出版ステータス出版済み - 1993

!!!All Science Journal Classification (ASJC) codes

  • 材料力学
  • 機械工学
  • 産業および生産工学

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