Endpoint position control using biological concepts

Kelly Ann Smith; Michael G. Littman

Endpoint position control using biological concepts

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

A biologically inspired algorithm has been refined for position control of a multilink robotic manipulator. In this approach, changes in joint angles are computed by a method of successive forward approximation in a manner that is naturally parallel and very simple. Improvements to the algorithm provide nearly uniform convergence for all motions regardless of direction and location in the workspace. Neural networks may be used to further improve trajectory control.

Original language	English (US)
Title of host publication	Proc 1993 IEEE Int Symp Intell Control
Publisher	Publ by IEEE
Pages	255-260
Number of pages	6
ISBN (Print)	0780312074
State	Published - 1993
Event	Proceedings of the 1993 IEEE International Symposium on Intelligent Control - Chicago, IL, USA Duration: Aug 25 1993 → Aug 27 1993

Publication series

Name	Proc 1993 IEEE Int Symp Intell Control

Other

Other	Proceedings of the 1993 IEEE International Symposium on Intelligent Control
City	Chicago, IL, USA
Period	8/25/93 → 8/27/93

All Science Journal Classification (ASJC) codes

General Engineering

Cite this

@inproceedings{9c7bfd37e6604d9c8ca1b8c1dc4211a4,

title = "Endpoint position control using biological concepts",

abstract = "A biologically inspired algorithm has been refined for position control of a multilink robotic manipulator. In this approach, changes in joint angles are computed by a method of successive forward approximation in a manner that is naturally parallel and very simple. Improvements to the algorithm provide nearly uniform convergence for all motions regardless of direction and location in the workspace. Neural networks may be used to further improve trajectory control.",

author = "Smith, {Kelly Ann} and Littman, {Michael G.}",

year = "1993",

language = "English (US)",

isbn = "0780312074",

series = "Proc 1993 IEEE Int Symp Intell Control",

publisher = "Publ by IEEE",

pages = "255--260",

booktitle = "Proc 1993 IEEE Int Symp Intell Control",

note = "Proceedings of the 1993 IEEE International Symposium on Intelligent Control ; Conference date: 25-08-1993 Through 27-08-1993",

}

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T1 - Endpoint position control using biological concepts

AU - Smith, Kelly Ann

AU - Littman, Michael G.

PY - 1993

Y1 - 1993

N2 - A biologically inspired algorithm has been refined for position control of a multilink robotic manipulator. In this approach, changes in joint angles are computed by a method of successive forward approximation in a manner that is naturally parallel and very simple. Improvements to the algorithm provide nearly uniform convergence for all motions regardless of direction and location in the workspace. Neural networks may be used to further improve trajectory control.

AB - A biologically inspired algorithm has been refined for position control of a multilink robotic manipulator. In this approach, changes in joint angles are computed by a method of successive forward approximation in a manner that is naturally parallel and very simple. Improvements to the algorithm provide nearly uniform convergence for all motions regardless of direction and location in the workspace. Neural networks may be used to further improve trajectory control.

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UR - http://www.scopus.com/inward/citedby.url?scp=0027806507&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0027806507

SN - 0780312074

T3 - Proc 1993 IEEE Int Symp Intell Control

SP - 255

EP - 260

BT - Proc 1993 IEEE Int Symp Intell Control

PB - Publ by IEEE

T2 - Proceedings of the 1993 IEEE International Symposium on Intelligent Control

Y2 - 25 August 1993 through 27 August 1993

ER -

Endpoint position control using biological concepts

Abstract

Publication series

Other

All Science Journal Classification (ASJC) codes

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