대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1990년도 하계학술대회 논문집
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- Pages.485-491
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- 1990
홉필드 신경 회로망을 이용한 로보트 매니퓰레이터의 최적 시간 경로 계획
Planning a minimum time path for robot manipullator using Hopfield neural network
- Kim, Young-Kwan (Dept. of Electronics Engineering, Chungang Univ.) ;
- Cho, Hyun-Chan (Dept. of Electronics Engineering, Chungang Univ.) ;
- Lee, Hong-Gi (Dept. of Control and Instrumentation Engineering, Chungang Univ.) ;
- Jeon, Hong-Tae (Dept. of Electronics Engineering, Chungang Univ.)
- 발행 : 1990.07.05
초록
We propose a minimum-time path planning soheme for the robot manipulator using Hopfield neural network. The minimum-time path planning, which can allow the robot system to perform the demanded tasks with a minimum execution time, may be of consequence to improve the productivity. But most of the methods proposed till now suffers from a significant computational burden and thus limits the on-line application. One way to avoid such a difficulty is to apply the neural network technique, which can allow the parallel computation, to the minimum-time problem. This paper propose an approach for solving the minimum-time path planning by using Hopfield neural network. The effectiveness of the proposed method is demonstrarted using the PUMA 560 manipulator.
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