Computational neural learning formalisms for manipulator inverse kinematics
- Author:
- Iyengar, S. Sitharama
- Published:
- Jan 31, 1989.
- Physical Description:
- 1 electronic document
- Additional Creators:
- Barhen, Jacob and Gulati, Sandeep
Online Version
- hdl.handle.net , Connect to this object online.
- Restrictions on Access:
- Unclassified, Unlimited, Publicly available.
Free-to-read Unrestricted online access - Summary:
- An efficient, adaptive neural learning paradigm for addressing the inverse kinematics of redundant manipulators is presented. The proposed methodology exploits the infinite local stability of terminal attractors - a new class of mathematical constructs which provide unique information processing capabilities to artificial neural systems. For robotic applications, synaptic elements of such networks can rapidly acquire the kinematic invariances embedded within the presented samples. Subsequently, joint-space configurations, required to follow arbitrary end-effector trajectories, can readily be computed. In a significant departure from prior neuromorphic learning algorithms, this methodology provides mechanisms for incorporating an in-training skew to handle kinematics and environmental constraints.
- Other Subject(s):
- Collection:
- NASA Technical Reports Server (NTRS) Collection.
- Note:
- Document ID: 19900019714.
Accession ID: 90N29030.
Proceedings of the NASA Conference on Space Telerobotics, Volume 1; p 333-342. - Terms of Use and Reproduction:
- No Copyright.
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