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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

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Published on: October 14, 2017

Hierarchical intelligent control for robotic motion.

T Shibata¹, T Fukuda

¹Dept. of Mechano-Inf. and Syst., Nagoya Univ.

IEEE Transactions on Neural Networks

|January 1, 1994

Summary

This summary is machine-generated.

This study introduces a novel intelligent control scheme for robotic manipulators, integrating neural networks and symbolic AI for enhanced performance. This approach improves robotic control by addressing system uncertainties and nonlinearities.

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Area of Science:

Robotics
Artificial Intelligence
Control Systems

Background:

Robotic manipulator control requires sophisticated strategies to handle complex dynamics and environmental uncertainties.
Existing methods often struggle with nonlinearities and imprecise information, limiting operational capabilities.

Purpose of the Study:

To present a novel hierarchically integrated control scheme for robotic manipulators.
To combine neuromorphic and symbolic control approaches for improved intelligent control.

Main Methods:

Developed a hybrid control architecture integrating a neural network for servo control and a knowledge-based system for symbolic strategy development.
Employed numerical manipulation for the neural network and symbolic manipulation for the knowledge base.
Utilized the neural network to compensate for uncertainties, nonlinearities, and vagueness in control strategies.

Main Results:

The proposed scheme effectively integrates numerical and symbolic processing for robotic control.
Demonstrated the capability of the neural network to manage system nonlinearities and environmental uncertainties.
Successfully developed symbolic control strategies that are enhanced by neuromorphic compensation.

Conclusions:

The hierarchically integrated approach offers a robust solution for intelligent robotic manipulator control.
Combining neuromorphic and symbolic methods enhances adaptability and precision in robotic systems.
This scheme provides a foundation for more advanced and autonomous robotic applications.