Adaptive Control of Non-linearity Dynamic System using DNU

DNU에 의한 비선형 동적시스템의 적응제어

The intent of this paper is to describe a neural network structure called dynamic neural processor(DNP), and examine how it can be used in developing a learning scheme for computing robot inverse kinematic transformations. The architecture and learning algorithm of the proposed dynamic neural network structure, the DNP, are described. Computer simulations are provided to demonstrate the effectiveness of the proposed learning using the DNP.