Đang chuẩn bị liên kết để tải về tài liệu:
Sổ tay thiết kế hệ thống cơ khí P24

24 Intelligent Soft-Computing Techniques in Robotics 24.1 24.2 Introduction Connectionist Approach in Robotics Basic Concepts • Connectionist Models with Applications in Robotics • Learning Principles and Rules 24.3 Neural Network Issues in Robotics Kinematic Robot Learning by Neural Networks • Dynamic Robot Learning at the Executive Control Level • Sensor-Based Robot Learning 24.4 Dustic M. Kati´ c Mihajlo Pupin Institute Fuzzy Logic Approach Introduction • Mathematical Foundations • Fuzzy Controller • Direct Applications • Hybridization with Model-Based Control Branko Karan Mihajlo Pupin Institute 24.5 24.6 24.7 Neuro-Fuzzy Approach in Robotics Genetic Approach in Robotics Conclusion 24.1 Introduction Robots and machines that perform various tasks in an intelligent and autonomous manner are required in many contemporary technical. | 24 Intelligent Soft-Computing Techniques in Robotics Dustic M. Katic Mihajlo Pupin Institute Branko Karan Mihajlo Pupin Institute 24.1 Introduction 24.2 Connectionist Approach in Robotics Basic Concepts Connectionist Models with Applications in Robotics Learning Principles and Rules 24.3 Neural Network Issues in Robotics Kinematic Robot Learning by Neural Networks Dynamic Robot Learning at the Executive Control Level Sensor-Based Robot Learning 24.4 Fuzzy Logic Approach Introduction Mathematical Foundations Fuzzy Controller Direct Applications Hybridization with Model-Based Control 24.5 Neuro-Fuzzy Approach in Robotics 24.6 Genetic Approach in Robotics 24.7 Conclusion 24.1 Introduction Robots and machines that perform various tasks in an intelligent and autonomous manner are required in many contemporary technical systems. Autonomous robots have to perform various anthropomorphic tasks in both unfamiliar or familiar working environments by themselves much like humans. They have to be able to determine all possible actions in unpredictable dynamic environments using information from various sensors. In advance human operators can transfer to robots the knowledge experience and skill to solve complex tasks. In the case of a robot performing tasks in an unknown enviroment the knowledge may not be sufficient. Hence robots have to adapt and be capable of acquiring new knowledge through learning. The basic components of robot intelligence are actuation perception and control. Significant effort has been attempted to make robots more intelligent by integrating advanced sensor systems as vision tactile sensing etc. But one of the ultimate and primary goals of contemporary robotics is development of intelligent algorithms that can further improve the performance of robotic systems using the above-mentioned human intelligent functions. Intelligent control is a new discipline that has emerged from the classical control disciplines with primary research interest in specific .