On Designing a Robot Manipulator Control System Using Multilayer Neural Network and Immune Algorithm

다층 신경망과 면역 알고리즘을 이용한 로봇 매니퓰레이터 제어 시스템 설계

As an approach to develope a control system with robustness in changing control environment conditions, this paper will propose a robot manipulator control system using multilayer neural network and immune algorithm. The proposed immune algorithm which has the characteristics of immune system such as distributed and anomaly detection, probabilistic detection, learning and memory, consists of the innate immune algorithm and the adaptive immune algorithm. We will demonstrate the effectiveness of the proposed control system with simulations of a 2-link robot manipulator.