Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Analytic Determination of 3D Grasping points Using Neural Network

신경망을 이용한 3차원 잡는 점들의 해석적 결정

  • Published : 2003.04.01
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Abstract

This paper deals with the problem of synthesis of the 3-dimensional Grasp Planning. In previous studies the genetic algorithm has been used to find optimal grasping points, but it had a limitation such as the determination time of grasping points was so long. To overcome this limitation we proposed a new algorithm which employs the Neural Network. In the Neural network we chose input parameters based on the shape of the object and output parameters resulted from optimization with the GA method. In this study the GRNN method is employed, it has been trained by the result value of optimization method and it has been tested by known object. The algorithm is verified by computer simulation.

Keywords

References

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