E.I. Shestakov1, A.A. Zhdanov2

1 LLC “Datana” (Moscow, Russia)

2 JSC “Lebedev Institute of Precision Mechanics and Computer Engineering” (Moscow, Russia)

In the article, the authors develop an approach to the control of a modular manipulative robot based on the biologically inspired method of «Autonomous adaptive control» (AAC) which developed in AAC-Lab group of A.A. Zhdanov.

The task of the control is self-learning of moving the robot to the target point, with the condition of possible faults, for example, breakdown (jamming) of one of the links (modules). A feature of the approach is the simultaneous flow of control and learning processes. Main way of the AAC system realization is using of neuron-like nets on basis of self-learning models of neurons, that was developed in AAC-Lab [3]. The proposed approach can be used in the control of manipulative robotic systems.

Shestakov E.I., Zhdanov A.A. Control of a modular robot manipulator based on the method of autonomous adaptive control. Neurocomputers. 2022. V. 24. № 6. Р. 38-45. DOI: https://doi.org/10.18127/j19998554-202206-04 (In Russian).

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