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PSD 및 역전파 알고리즘를 이용한 AM1 로봇의 제어 시스템 설계
이재욱,서운학,이종붕,이희섭,한성현 한국공작기계학회 2001 한국공작기계학회 춘계학술대회논문집 Vol.2001 No.-
Neural networks are used in the framework of sensor based 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 back propagation 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.
PSD 및 역전파 알고리즘을 이용한 AM1 로봇의 제어 시스템 설계
이재욱,서운학,김휘동,이희섭,한성현 한국공작기계학회 2002 한국공작기계학회 춘계학술대회논문집 Vol.2002 No.-
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.