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Page 104
A self-organizing map is used to resolve the inverse kinematics of the
manipulator. The map determines the joint angles of a redundant manipulator so
that the end effector of the manipulator reaches a target given in the image space
.
A self-organizing map is used to resolve the inverse kinematics of the
manipulator. The map determines the joint angles of a redundant manipulator so
that the end effector of the manipulator reaches a target given in the image space
.
Page 105
Manipulator Self-organizing map Image plane Figure 1: Outline of our visuo-
motor system ning tactics and it will take only a short time to plan. Because of the
flexibility of the self-organizing map a- gainst to changes of environments,
moreover, ...
Manipulator Self-organizing map Image plane Figure 1: Outline of our visuo-
motor system ning tactics and it will take only a short time to plan. Because of the
flexibility of the self-organizing map a- gainst to changes of environments,
moreover, ...
Page 106
In the learning process, an arbitrary target position in the image space is given to
the visuo-motor system. The self-organizing map determines the joint angles
Bout from the target position. The end effector of the manipulator does not,
however, ...
In the learning process, an arbitrary target position in the image space is given to
the visuo-motor system. The self-organizing map determines the joint angles
Bout from the target position. The end effector of the manipulator does not,
however, ...
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Contents
Monday May 282001 | 1 |
Session M1B Assembly Planning Room | 31 |
Session MIC Production Systeml RoomC | 61 |
Copyright | |
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Common terms and phrases
4th IEEE International algorithm analysis applied approach Assembly and Task assembly model assembly planning assembly process assembly sequences assembly system assembly task automatic B-spline Bayesian network calculated camera collision components computed configuration constraints contact point coordinate cost defined deformable described developed disassembly sequences dynamic Engineering environment evaluation feasible Figure finger flexible Fukuoka function genetic algorithm geometric grasp holons IEEE International Symposium information entropy Japan liaison Lie algebra machine manipulation matrix mechanical method mobile robot module motion planning node object obstacles obtained operation optimal parameters path planning Petri nets Planning Soft Research precedence graph problem proposed Radon transform represented Robotics and Automation rotation scheduling Screw Theory selected self-organizing map sensor shown in Fig simulation Soft Research Park solutions specification station step structure subassembly Symposium on Assembly Task Planning Soft tion tool trajectory vector velocity
Bibliographic information
| Title | Proceedings |
| Author | IEEE International Symposium on Assembly and Task Planning |
| Contributors | IEEE Robotics and Automation Society, IEEE Xplore (Online service) |
| Publisher | IEEE Computer Society Press |
| Original from | the University of Michigan |
| Digitized | 11 Jan 2008 |
| Export Citation | BiBTeX EndNote RefMan |