Behavioral Control of a Robot Arm
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چکیده
Russell L. Smith Department of Electrical and Electronic Engineering, University of Auckland, Private Bag 92019, New Zealand. E-Mail: [email protected] Abstract|This paper describes a novel trainable controller which extends the feedback-error paradigm of Kawato, called an adaptive trajectory generator. The controller can be adapted so that a controlled system shows a behavior which is speci ed using heuristic rules. The training algorithm is simple and computationally inexpensive. Its e ectiveness is demonstrated with the control of a simulated two-link robot arm to repeatedly throw and catch a ball.
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تاریخ انتشار 1995