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

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  4. 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
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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