Predictive Robot Control with Neural
نویسنده
چکیده
Predictive Robot Control with Neural Networks G. Schram , F.X. van der Linden, B.J.A. Kr ose, F.C.A. Groen Faculty of Mathematics and Computer Science, University of Amsterdam Kruislaan 403, NL-1098 SJ [email protected] Abstract. For a target tracking task, the hand-held camera of the anthropomorphic OSCAR-robot manipulator has to track an object which moves arbitrarily on a table. The desired camera-joint mapping is approximated by a feedforward neural network. Through the use of time derivatives of the position of the object and of the manipulator, the controller can inherently predict the next position of the moving target object. In this paper several `predictive' controllers are proposed, and successfully applied to track a moving object.
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