Neural Network Control of an Undersea Manipulator Constrained to Planar Motion.

Abstract

This report discusses the development of an artificial neural network controller for a manipulator moving in two dimensional space. The motion was limited to the shoulder and elbow joints. Two tasks were defined within this effort as follows: (1) teach the manipulator to move to a fixed target position from an arbitrary initial position, and (2) teach the manipulator to move to any arbitrary target position from any arbitrary initial position. The back propagation learning/algorithm was implemented for both subtasks. The trained neural network was initially tested using a graphics simulation program and later transferred to the manipulator hardware.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1990
Accession Number
ADA239121

Entities

People

  • A. W. Westerman

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Adaptive Control Systems
  • Artificial Intelligence
  • Artificial Intelligence Software
  • Autonomous Underwater Vehicles
  • Computational Science
  • Computer Vision
  • Computers
  • Control Systems
  • Graphics
  • Jet Propulsion
  • Joints (Anatomy)
  • Neural Networks
  • Parallel Computing
  • Parallel Processing
  • Simulations
  • Three Dimensional
  • Two Dimensional

Readers

  • Neural Network Machine Learning.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Neural Networks
  • Space
  • Space - Spacecraft Maneuvers