# Neuro-Controller with Simultaneous Perturbation for Robot Arm Learning of Kinematics and Dynamics without Jacobian

### Yutaka Maeda, Nobutaka Kitajima, Tsubasa Inagaki, Hidenori Onishi

#### Abstract

We report two control schemes for a two-link robot arm system using a neuro-controller. We adopted the simultaneous perturbation learning rule for a neuro-controller. Ordinary gradient type of learning rule uses Jacobian of the objective system in a direct control scheme by a neural network. However, the learning rule proposed here requires only two values of an error function.Without Jacobian or related information of the objective robot arm, the neuro-controller can learn an inverse of robot kinematics and dynamics, simultaneously. Some results are shown.

#### References

- Maeda, Y., deFigueiredo, R.J.P.: Learning Rules for Neuro-Controller via Simultaneous Perturbation. IEEE trans. on Neural Networks, 8 (1997) 1119-1130
- Spall, J.C.: Multivariable stochastic approximation using a simultaneous perturbation gradient approximation. IEEE Trans. Autom. Control, AC-37 (1992) 332-341
- Cauwenberghs, G.: A fast stochastic error-descent algorithm for supervised learning and optimization. in S.J.Hanson, J.D.Cowan and C.Lee(eds.), Advances in neural information processing systems 5, Morgan Kaufmann Publisher. (1993) 244-251
- Maeda, Y., Hirano, H., Kanata, Y.: A learning rule of neural networks via simultaneous perturbation and its hardware implementation. Neural Networks, 8 (1995) 251-259

#### Paper Citation

#### in Harvard Style

Maeda Y., Kitajima N., Inagaki T. and Onishi H. (2004). **Neuro-Controller with Simultaneous Perturbation for Robot Arm Learning of Kinematics and Dynamics without Jacobian** . In *Proceedings of the First International Workshop on Artificial Neural Networks: Data Preparation Techniques and Application Development - Volume 1: ANNs, (ICINCO 2004)* ISBN 972-8865-14-7, pages 16-22. DOI: 10.5220/0001149200160022

#### in Bibtex Style

@conference{anns04,

author={Yutaka Maeda and Nobutaka Kitajima and Tsubasa Inagaki and Hidenori Onishi},

title={Neuro-Controller with Simultaneous Perturbation for Robot Arm Learning of Kinematics and Dynamics without Jacobian},

booktitle={Proceedings of the First International Workshop on Artificial Neural Networks: Data Preparation Techniques and Application Development - Volume 1: ANNs, (ICINCO 2004)},

year={2004},

pages={16-22},

publisher={SciTePress},

organization={INSTICC},

doi={10.5220/0001149200160022},

isbn={972-8865-14-7},

}

#### in EndNote Style

TY - CONF

JO - Proceedings of the First International Workshop on Artificial Neural Networks: Data Preparation Techniques and Application Development - Volume 1: ANNs, (ICINCO 2004)

TI - Neuro-Controller with Simultaneous Perturbation for Robot Arm Learning of Kinematics and Dynamics without Jacobian

SN - 972-8865-14-7

AU - Maeda Y.

AU - Kitajima N.

AU - Inagaki T.

AU - Onishi H.

PY - 2004

SP - 16

EP - 22

DO - 10.5220/0001149200160022