TY - GEN
T1 - Hierarchical intelligent control for robotic motions-hybrid neuromorphic and symbolic control
AU - Shibata, T.
AU - Fukuda, T.
AU - Kosuge, K.
AU - Arai, F.
AU - Tokita, M.
AU - Mitsuoka, T.
N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].
PY - 1992
Y1 - 1992
N2 - This paper presents a new scheme for intelligent control of robotic manipulators. This scheme is an integrated approach of the neuromorphic and symbolic control of robotic manipulators, including the applied neural network for the servo control and the knowledge based approximation. Therefore, this scheme has a hierarchical structure, and is known as 'hierarchical intelligent control'. The neural network in the servo control level is the numerical manipulation, while the knowledge based part is the symbolic manipulation. In the neuromorphic control, the neural network compensates the nonlinearity of the system and the uncertainty in environment. The knowledge base part makes control strategy symbolically for the servo level. This is an analogous control system to the human cerebral control structure. © 1992 IEEE.
AB - This paper presents a new scheme for intelligent control of robotic manipulators. This scheme is an integrated approach of the neuromorphic and symbolic control of robotic manipulators, including the applied neural network for the servo control and the knowledge based approximation. Therefore, this scheme has a hierarchical structure, and is known as 'hierarchical intelligent control'. The neural network in the servo control level is the numerical manipulation, while the knowledge based part is the symbolic manipulation. In the neuromorphic control, the neural network compensates the nonlinearity of the system and the uncertainty in environment. The knowledge base part makes control strategy symbolically for the servo level. This is an analogous control system to the human cerebral control structure. © 1992 IEEE.
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U2 - 10.1109/ISIE.1992.279579
DO - 10.1109/ISIE.1992.279579
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 0780300424
T3 - IEEE International Symposium on Industrial Electronics
SP - 236
EP - 240
BT - Proceedings of the IEEE International Symposium on Industrial Electronics, ISIE 1992
PB - IEEE
T2 - 1992 IEEE International Symposium on Industrial Electronics, ISIE 1992
Y2 - 25 May 1992 through 29 May 1992
ER -