WEKO3
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拡張フィードバック系による逆運動学モデルのオフライン学習
http://hdl.handle.net/2261/7219
http://hdl.handle.net/2261/7219f913ac23-fd39-41f0-b037-af2eec512765
名前 / ファイル | ライセンス | アクション |
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1305B109.pdf (723.7 kB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2010-03-12 | |||||
タイトル | ||||||
タイトル | 拡張フィードバック系による逆運動学モデルのオフライン学習 | |||||
言語 | ||||||
言語 | jpn | |||||
キーワード | ||||||
主題 | Inverse-kinematics Model | |||||
主題Scheme | Other | |||||
キーワード | ||||||
主題 | Learning Control | |||||
主題Scheme | Other | |||||
キーワード | ||||||
主題 | Neural Networks | |||||
主題Scheme | Other | |||||
キーワード | ||||||
主題 | Extended Feedback System | |||||
主題Scheme | Other | |||||
資源タイプ | ||||||
資源 | http://purl.org/coar/resource_type/c_6501 | |||||
タイプ | journal article | |||||
その他のタイトル | ||||||
その他のタイトル | 0ff-line Inverse-kinematics Model Learning by an Extended Feedback System | |||||
著者 |
大山, 英明
× 大山, 英明× 舘, 暲 |
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著者別名 | ||||||
識別子 | 106567 | |||||
識別子Scheme | WEKO | |||||
姓名 | Oyama, Eimei | |||||
著者別名 | ||||||
識別子 | 106568 | |||||
識別子Scheme | WEKO | |||||
姓名 | Tachi, Susumu | |||||
著者所属 | ||||||
著者所属 | 工業技術院機械技術研究所 | |||||
著者所属 | ||||||
著者所属 | 東京大学工学部 | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | Recently the use of neural networks as the inverse-kinematics model of a robot arm has been proposed in learning control of the robot arm. The forward and inverse modeling, the feedback error leaning schema and the goal directed model inversion were proposed to extend the acquisition of the inverse model for the systems with many-to-one input-output correspondence. However, these methods can be used only for on-line learning. The learning of neural networks usually requires many iterations of robot arm movement and of its position measurement. In order to reduce the number of movements of the robot arm, the hybrid system which consists of a learning element and an extended feedback controller are proposed. The learning element approximates the inverse kinematics model of the robot arm. By using the extended feedback controller, the high precision solutions of the inverse kinematics problems are obtained so that these solutions can be used for the teaching signal of the learning element. After the acquisition of these solutions, the off-line learning of the learning element is conducted. The use of forward model of the robot arm is also proposed. The numerical simulations show the good performance of the proposed system. | |||||
書誌情報 |
日本ロボット学会誌 巻 13, 号 5, p. 691-699, 発行日 1995-07 |
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ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 02891824 | |||||
書誌レコードID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AN00141189 | |||||
フォーマット | ||||||
内容記述タイプ | Other | |||||
内容記述 | application/pdf | |||||
日本十進分類法 | ||||||
主題 | 548.3 | |||||
主題Scheme | NDC | |||||
出版者 | ||||||
出版者 | 日本ロボット学会 |