<title>General learning scheme for robot coordinate transformations using dynamic neural network</title>

Abstract

By virtue of their functional approximation, learning and adaptive capabilities, the computational neural networks can be suitably employed for learning robot coordinate transformations. The major drawback of conventional static feedforward neural networks based on back-propagation learning algorithm is in their very large convergence time for a given task. Any attempts to accelerate the learning process by increasing the values of learning constants in the algorithm often result in unstable systems. The intent of this paper is to describe a neural network structure called dynamic neural processor (DNP), and examine briefly how it can be used in developing a learning scheme for computing robot inverse kinematic transformations. The architecture and learning algorithm of the proposed dynamic neural network structure, the DNP, are described. Computer simulations are provided to demonstrate the effectiveness of the proposed learning scheme using the DNP.