TY  - UNPD
A1  - Brause, Rüdiger W.
T1  - Performance and storage requirements of topology-conserving maps for robot manipulator control
T2  - Universität Frankfurt am Main. Fachbereich Informatik: Interner Bericht ; 89,5
N2  - A new programming paradigm for the control of a robot manipulator by learning the mapping between the Cartesian space and the joint space (inverse Kinematic) is discussed. It is based on a Neural Network model of optimal mapping between two high-dimensional spaces by Kohonen. This paper describes the approach and presents the optimal mapping, based on the principle of maximal information gain. It is shown that Kohonens mapping in the 2-dimensional case is optimal in this sense. Furthermore, the principal control error made by the learned mapping is evaluated for the example of the commonly used PUMA robot, the trade-off between storage resources and positional error is discussed and an optimal position encoding resolution is proposed.
T3  - Interner Bericht / Fachbereich Informatik, Johann Wolfgang Goethe-Universität Frankfurt a.M. - 89, 05 
KW  - Roboter
KW  - Selbstorganisierende Karte
KW  - Speicherbedarf
Y1  - 1989
UR  - http://publikationen.ub.uni-frankfurt.de/frontdoor/index/index/docId/8006
UR  - https://nbn-resolving.org/urn:nbn:de:hebis:30-79687
SN  - 1432-9611
ER  -