제어로봇시스템학회:학술대회논문집
- 1990.10a
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- Pages.36-40
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- 1990
A neural network with local weight learning and its application to inverse kinematic robot solution
부분 학습구조의 신경회로와 로보트 역 기구학 해의 응용
Abstract
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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