A neural network (NN) algorithm was implemented to an aqua-robot manipulator control to capture a floating object in water. The NN control performance was evaluated and compared with that of the conventional PD feedback control. The nonlinear dynamics of a floating object in water, caused by approaching motion of the aqua-robot manipulator to the object, was learned in a three-layered neural network. The neural network was implemented in the control system of the aqua-robot manipulator in parallel to a conventional PD feedback controller. The performance of the neural network capture control was experimentally evaluated and found essentially high in terms of capture time needed and capture-success ratio.


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    Title :

    Neural network application to capture control in aqua-robot manipulator


    Additional title:

    Anwendung eines neuronalen Netzes zu Greifregelung beim einem Unterwasser-Robotermanipulator


    Contributors:
    Hara, F. (author) / Kikuchi, K. (author)


    Publication date :


    Size :

    4 Seiten, 5 Bilder, 3 Tabellen, 2 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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