제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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- Pages.36-40
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- 1990
부분 학습구조의 신경회로와 로보트 역 기구학 해의 응용
A neural network with local weight learning and its application to inverse kinematic robot solution
초록
Conventional back propagation learning is generally characterized by slow and rather inaccurate learning which makes it difficult to use in control applications. A new multilayer perception architecture and its learning algorithm is proposed that consists of a Kohonen front layer followed by a back propagation network. The Kohonen layer selects a subset of the hidden layer neurons for local tuning. This architecture has been tested on the inverse kinematic solution of robot manipulator while demonstrating its fast and accurate learning capabilities.
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