Journal of the Korean Institute of Telematics and Electronics (대한전자공학회논문지)
- Volume 27 Issue 9
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- Pages.1364-1371
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- 1990
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- 1016-135X(pISSN)
Planning a Time-optimal path for Robot Manipulator Using Hopfield Neural Network
홉필드 신경 회로망을 이용한 로보트 매니퓰레이터의 최적시간 경로 계획
Abstract
We propose a time-optimal path planning scheme for the robot manipulator using Hopfield neural network. The time-optimal 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 networke technique, which can allow the parallel computation, to the minimum time problem. This paper proposes an approach for solving the time-optimal path planning by using Hopfield neural network. The effectiveness of the proposed method is demonstrarted using a PUMA 560 manipulator.
Keywords