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

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著者

    • 柴田, 崇徳, 1967- シバタ, タカノリ

書誌事項

タイトル

Hierarchical intelligent control of robotic motion

タイトル別名

ロボットの階層的知的制御

著者名

柴田, 崇徳, 1967-

著者別名

シバタ, タカノリ

学位授与大学

名古屋大学

取得学位

工学博士

学位授与番号

甲第2671号

学位授与年月日

1992-09-30

注記・抄録

博士論文

目次

  1. Contents / p1 (0005.jp2)
  2. Chapter 1 Introduction / p1 (0009.jp2)
  3. 1.1 Background of Intelligent Control / p1 (0009.jp2)
  4. 1.2 Hierarchical Intelligent Control of Robotic Motion / p5 (0011.jp2)
  5. 1.3 Organization of the Thesis / p9 (0013.jp2)
  6. Chapter 2 Foundations of Neural Network,Artificial Intelligence,Fuzzy,and Genetic Algorithm / p12 (0014.jp2)
  7. 2.1 Artificial Neural Network / p12 (0014.jp2)
  8. 2.2 Artificial Intelligence / p39 (0028.jp2)
  9. 2.3 Fuzzy / p41 (0029.jp2)
  10. 2.4 Genetic Algorithms / p48 (0032.jp2)
  11. 2.5 Summary / p51 (0034.jp2)
  12. Chapter 3 Neural Network Applications / p52 (0034.jp2)
  13. 3.1 Pattern Recognition / p52 (0034.jp2)
  14. 3.2 Design and Planning / p53 (0035.jp2)
  15. 3.3 Control / p54 (0035.jp2)
  16. 3.4 Knowledge Information Processing and Hybrid Systems / p61 (0039.jp2)
  17. 3.5 Neural Networks and Control Problems in Robotic Field / p63 (0040.jp2)
  18. 3.6 Summary / p70 (0043.jp2)
  19. Chapter 4 Hybrid Position/Force Control of Robotic Manipulator using Neural Network / p71 (0044.jp2)
  20. 4.1 Introduction / p71 (0044.jp2)
  21. 4.2 Configuration of Neural Network with Time Delay Elements / p74 (0045.jp2)
  22. 4.3 Modeling and Control Methods / p78 (0047.jp2)
  23. 4.4 Simulation Methods and Results / p90 (0053.jp2)
  24. 4.5 Summary / p97 (0057.jp2)
  25. Chapter 5 Fast Variable Learning Method using Fuzzy Critic / p98 (0057.jp2)
  26. 5.1 Introduction / p98 (0057.jp2)
  27. 5.2 Fast Variable Learning Method using Fuzzy Critic / p100 (0058.jp2)
  28. 5.3 Modeling and Control Methods for Simulations / p106 (0061.jp2)
  29. 5.4 Simulation Results / p110 (0063.jp2)
  30. 5.5 Summary / p117 (0067.jp2)
  31. Chapter 6 Sensing and Control for Robot Motion by Neural Network:-Position,Force,and Impact Control of Robot Manipulator- / p118 (0067.jp2)
  32. 6.1 Introduction / p118 (0067.jp2)
  33. 6.2 Equivalent Model of Robot Manipulator and Impact Force / p119 (0068.jp2)
  34. 6.3 Neuromorphic Control / p123 (0070.jp2)
  35. 6.4 Simulation Method / p127 (0072.jp2)
  36. 6.5 Simulation Results / p130 (0073.jp2)
  37. 6.6 Summary / p146 (0081.jp2)
  38. Chapter 7 Adaptation and Learning for Hierarchical Intelligent Control of Robot Manipulators / p147 (0082.jp2)
  39. 7.1 Introduction / p147 (0082.jp2)
  40. 7.2 Concept of Hierarchical Intelligent Control / p150 (0083.jp2)
  41. 7.3 Learning Level for Control Strategy / p153 (0085.jp2)
  42. 7.4 Modelling and Neuromorphic Control Method / p161 (0089.jp2)
  43. 7.5 Simulation Results / p165 (0091.jp2)
  44. 7.6 Summary / p174 (0095.jp2)
  45. Chapter 8 Hierarchical Intelligent Control with Reasoning Mechanism / p175 (0096.jp2)
  46. 8.1 Introduction / p175 (0096.jp2)
  47. 8.2 Concept of Hierarchical Intelligent Control / p179 (0098.jp2)
  48. 8.3 Symbolic Control with Control Strategy / p182 (0099.jp2)
  49. 8.4 Outline of Neuromorphic Control / p190 (0103.jp2)
  50. 8.5 Modeling and Control Methods / p192 (0104.jp2)
  51. 8.6 Simulation Results / p199 (0108.jp2)
  52. 8.7 Summary / p207 (0112.jp2)
  53. Chapter 9 Robot Motion Planning using Genetic Algorithm / p208 (0112.jp2)
  54. 9.1 Introduction / p208 (0112.jp2)
  55. 9.2 Environment Representation / p211 (0114.jp2)
  56. 9.3 Genetic Algorithm for Path-planning of a Mobile Robot / p216 (0116.jp2)
  57. 9.4 Simulation Results / p222 (0119.jp2)
  58. 9.5 Summary / p230 (0123.jp2)
  59. Chapter 10 Selfish and Coordinative Plannings for Multiple Robots using Genetic Algorithm / p231 (0124.jp2)
  60. 10.1 Introduction / p231 (0124.jp2)
  61. 10.2 Concept of Selfishness and Coordination in Planning for Multiple Robots / p234 (0125.jp2)
  62. 10.3 Environment Representation for Mobile Robots / p236 (0126.jp2)
  63. 10.4 Genetic Algorithms for Selfish-planning and Coordinative-planning / p240 (0128.jp2)
  64. 10.5 Simulation Results / p250 (0133.jp2)
  65. 10.6 Summary / p259 (0138.jp2)
  66. Chapter 11 Conclusion / p260 (0138.jp2)
  67. 11.1 Contributions / p260 (0138.jp2)
  68. 11.2 Future Works / p263 (0140.jp2)
  69. Bibliography / p264 (0140.jp2)
  70. List of Publications / p273 (0145.jp2)
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各種コード

  • NII論文ID(NAID)
    500000091488
  • NII著者ID(NRID)
    • 8000000991939
  • DOI(NDL)
  • NDL書誌ID
    • 000000255802
  • データ提供元
    • NDL ONLINE
    • NDLデジタルコレクション

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