The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2007
Session ID : 2A1-L05
Conference information
2A1-L05 Proposal on the manipulator control and learning based on compound control
Takefumi ASAHIShingo SHIMODAHidenori KIMURAHideo FUJIMOTO
Author information
CONFERENCE PROCEEDINGS FREE ACCESS

Details
Abstract
This paper proposes the control and the learning method for a manipulator based on compound control. Compound control is the novel concept of biomimetic control and learning scheme. The most important feature for controls of living things is that controls concepts of simple and homogeneous elements and its networks. In this paper, compound control is applied to a redundant manipulator control. The hierarchical network of calculation elements is used to learn the desired angles and controllers of all joints using the position of endefector and the desired position of endefector. The simulation and experiment results show the effective of proposal method.
Content from these authors
© 2007 The Japan Society of Mechanical Engineers
Previous article Next article
feedback
Top