Control of a modular robot manipulator based on the method of autonomous adaptive control
- 1 LLC “Datana” (Moscow, Russia)
- 2 JSC “Lebedev Institute of Precision Mechanics and Computer Engineering” (Moscow, Russia)
Abstract
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.
- Received
- 23.05.2022
- Approved after review
- 02.06.2022
- Accepted
- 22.11.2022
How to cite
Шестаков Е.И., Жданов А.А. Управление модульным манипуляционным роботом на основе метода автономного адаптивного управления // Нейрокомпьютеры: разработка, применение. 2022. T. 24. № 6. С. 38-45. DOI: https://doi.org/10.18127/ j19998554-202206-04
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