標題: | Robot motion classification from the standpoint of learning control |
作者: | Shiah, SJ Young, KY 電控工程研究所 Institute of Electrical and Control Engineering |
關鍵字: | robot motion classification;robot learning control;learning space complexity;motion similarity analysis |
公開日期: | 1-六月-2004 |
摘要: | In robot learning control, the learning space for executing the general motions of multi-joint robot manipulators is very complicated. Thus, when the learning controllers are employed as major roles in motion governing, the motion variety requires them to consume excessive amount of memory. Therefore, in spite of their ability to generalize, the learning controllers are usually used as subordinates to conventional controllers or the learning process needs to be repeated each time a new trajectory is encountered. To simplify learning space complexity, we propose, from the standpoint of learning control, that robot motions be classified according to their similarities. The learning controller can then be designed to govern groups of robot motions with high degrees of similarity without consuming excessive memory resources. Motion classification based on using the PUMA 560 robot manipulator demonstrates the effectiveness of the proposed scheme. (C) 2003 Elsevier B.V. All rights reserved. |
URI: | http://dx.doi.org/10.1016/S0165-0114(03)00071-X http://hdl.handle.net/11536/26750 |
ISSN: | 0165-0114 |
DOI: | 10.1016/S0165-0114(03)00071-X |
期刊: | FUZZY SETS AND SYSTEMS |
Volume: | 144 |
Issue: | 2 |
起始頁: | 285 |
結束頁: | 296 |
顯示於類別: | 期刊論文 |