Adaptive Control of Manipulator Robots in a Dynamic Environment Using Neural Networks

Authors

DOI:

https://doi.org/10.18372/1990-5548.80.18682

Keywords:

machine learning, neural networks, motion planning system, intelligent system, robotic manipulators, dynamic obstacles, environment analysis, automated systems

Abstract

The purpose of the study is to develop an approach to planning the trajectory of the manipulator robot using an intelligent system based on neural networks. For this purpose, the work considered the processes of planning and deploying the movement of the robot. The analysis of existing methods of planning the movement of manipulator robots and the review of intelligent control systems made it possible to obtain a complete picture of the current state of this issue. A system is proposed that can perceive the environment and control the movement of the robot by generating the correct control commands. For this, 3 tasks were solved, namely: analysis of the environment in order to determine its features, determination of the trajectory in order to neutralize the collision and determination of controlled influences for the executive authorities in order to implement the movement. The functionality and structure of the neural network for solving each of the tasks are proposed.

Author Biographies

Victor Sineglazov , National Aviation University, Kyiv, Ukraine

Doctor of Engineering Science

Professor

Head of the Department Aviation Computer-Integrated Complexes

Faculty of Air Navigation Electronics and Telecommunications

Volodymyr Khotsyanovsky, National Aviation University, Kyiv, Ukraine

Post-graduate Student

Faculty of Air Navigation, Electronics and Telecommunications

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Published

2024-06-25

Issue

Vol. 2 No. 80 (2024)

Section

AUTOMATION AND COMPUTER-INTEGRATED TECHNOLOGIES

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