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Authors: Yutaka Maeda ; Nobutaka Kitajima ; Tsubasa Inagaki and Hidenori Onishi

Affiliation: Kansai University, Japan

Keyword(s): Simultaneous perturbation, neural networks, control, robot arm, dynamics, kinematics.

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.

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Paper citation in several formats:
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 (ICINCO 2004) - ANNs; ISBN 972-8865-14-7, SciTePress, pages 16-22. DOI: 10.5220/0001149200160022

@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 (ICINCO 2004) - ANNs},
year={2004},
pages={16-22},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001149200160022},
isbn={972-8865-14-7},
}

TY - CONF

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

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