Hierarchical intelligent control of robotic motion ロボットの階層的知的制御

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Author

    • 柴田, 崇徳, 1967- シバタ, タカノリ, 1967-

Bibliographic Information

Title

Hierarchical intelligent control of robotic motion

Other Title

ロボットの階層的知的制御

Author

柴田, 崇徳, 1967-

Author(Another name)

シバタ, タカノリ, 1967-

University

名古屋大学

Types of degree

工学博士

Grant ID

甲第2671号

Degree year

1992-09-30

Note and Description

博士論文

コレクション : 国立国会図書館デジタルコレクション > デジタル化資料 > 博士論文

Table of Contents

  1. Contents
  2. Chapter 1 Introduction
  3. 1.1 Background of Intelligent Control
  4. 1.2 Hierarchical Intelligent Control of Robotic Motion
  5. 1.3 Organization of the Thesis
  6. Chapter 2 Foundations of Neural Network,Artificial Intelligence,Fuzzy,and Genetic Algorithm
  7. 2.1 Artificial Neural Network
  8. 2.2 Artificial Intelligence
  9. 2.3 Fuzzy
  10. 2.4 Genetic Algorithms
  11. 2.5 Summary
  12. Chapter 3 Neural Network Applications
  13. 3.1 Pattern Recognition
  14. 3.2 Design and Planning
  15. 3.3 Control
  16. 3.4 Knowledge Information Processing and Hybrid Systems
  17. 3.5 Neural Networks and Control Problems in Robotic Field
  18. 3.6 Summary
  19. Chapter 4 Hybrid Position/Force Control of Robotic Manipulator using Neural Network
  20. 4.1 Introduction
  21. 4.2 Configuration of Neural Network with Time Delay Elements
  22. 4.3 Modeling and Control Methods
  23. 4.4 Simulation Methods and Results
  24. 4.5 Summary
  25. Chapter 5 Fast Variable Learning Method using Fuzzy Critic
  26. 5.1 Introduction
  27. 5.2 Fast Variable Learning Method using Fuzzy Critic
  28. 5.3 Modeling and Control Methods for Simulations
  29. 5.4 Simulation Results
  30. 5.5 Summary
  31. Chapter 6 Sensing and Control for Robot Motion by Neural Network:-Position,Force,and Impact Control of Robot Manipulator-
  32. 6.1 Introduction
  33. 6.2 Equivalent Model of Robot Manipulator and Impact Force
  34. 6.3 Neuromorphic Control
  35. 6.4 Simulation Method
  36. 6.5 Simulation Results
  37. 6.6 Summary
  38. Chapter 7 Adaptation and Learning for Hierarchical Intelligent Control of Robot Manipulators
  39. 7.1 Introduction
  40. 7.2 Concept of Hierarchical Intelligent Control
  41. 7.3 Learning Level for Control Strategy
  42. 7.4 Modelling and Neuromorphic Control Method
  43. 7.5 Simulation Results
  44. 7.6 Summary
  45. Chapter 8 Hierarchical Intelligent Control with Reasoning Mechanism
  46. 8.1 Introduction
  47. 8.2 Concept of Hierarchical Intelligent Control
  48. 8.3 Symbolic Control with Control Strategy
  49. 8.4 Outline of Neuromorphic Control
  50. 8.5 Modeling and Control Methods
  51. 8.6 Simulation Results
  52. 8.7 Summary
  53. Chapter 9 Robot Motion Planning using Genetic Algorithm
  54. 9.1 Introduction
  55. 9.2 Environment Representation
  56. 9.3 Genetic Algorithm for Path-planning of a Mobile Robot
  57. 9.4 Simulation Results
  58. 9.5 Summary
  59. Chapter 10 Selfish and Coordinative Plannings for Multiple Robots using Genetic Algorithm
  60. 10.1 Introduction
  61. 10.2 Concept of Selfishness and Coordination in Planning for Multiple Robots
  62. 10.3 Environment Representation for Mobile Robots
  63. 10.4 Genetic Algorithms for Selfish-planning and Coordinative-planning
  64. 10.5 Simulation Results
  65. 10.6 Summary
  66. Chapter 11 Conclusion
  67. 11.1 Contributions
  68. 11.2 Future Works
  69. Bibliography
  70. List of Publications
11access

Codes

  • NII Article ID (NAID)
    500002010017
  • NII Author ID (NRID)
    • 8000002573964
  • DOI(NDL)
  • NDLBibID
    • 000000255802
  • Source
    • NDL ONLINE
    • NDL Digital Collections

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