Endpoint position control using biological concepts

Kelly Ann Smith, Michael G. Littman

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

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 languageEnglish (US)
Title of host publicationProc 1993 IEEE Int Symp Intell Control
PublisherPubl by IEEE
Pages255-260
Number of pages6
ISBN (Print)0780312074
StatePublished - Dec 1 1993
EventProceedings of the 1993 IEEE International Symposium on Intelligent Control - Chicago, IL, USA
Duration: Aug 25 1993Aug 27 1993

Publication series

NameProc 1993 IEEE Int Symp Intell Control

Other

OtherProceedings of the 1993 IEEE International Symposium on Intelligent Control
CityChicago, IL, USA
Period8/25/938/27/93

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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