A Query Based Learning Algorithm for Modelling Robot Manipulator Dynamics using Network Inversion
TL;DR: A query based learning algorithm is proposed in this paper to obtain a valid neural emulator of the robot manipulator using radial basis function networks and shows significant improvement in the neural model after retraining.
Abstract: A query based learning algorithm is proposed in this paper to obtain a valid neural emulator of the robot manipulator using radial basis function networks. This algorithm is centred around the conc...
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TL;DR: It is rigorously established that standard multilayer feedforward networks with as few as one hidden layer using arbitrary squashing functions are capable of approximating any Borel measurable function from one finite dimensional space to another to any desired degree of accuracy, provided sufficiently many hidden units are available.
Abstract: This paper rigorously establishes that standard multilayer feedforward networks with as few as one hidden layer using arbitrary squashing functions are capable of approximating any Borel measurable function from one finite dimensional space to another to any desired degree of accuracy, provided sufficiently many hidden units are available. In this sense, multilayer feedforward networks are a class of universal approximators.
15,834 citations
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TL;DR: It is demonstrated that neural networks can be used effectively for the identification and control of nonlinear dynamical systems and the models introduced are practically feasible.
Abstract: It is demonstrated that neural networks can be used effectively for the identification and control of nonlinear dynamical systems. The emphasis is on models for both identification and control. Static and dynamic backpropagation methods for the adjustment of parameters are discussed. In the models that are introduced, multilayer and recurrent networks are interconnected in novel configurations, and hence there is a real need to study them in a unified fashion. Simulation results reveal that the identification and adaptive control schemes suggested are practically feasible. Basic concepts and definitions are introduced throughout, and theoretical questions that have to be addressed are also described. >
7,508 citations
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01 Jan 1984
TL;DR: This unified survey focuses on linear discrete-time systems and explores the natural extensions to nonlinear systems and summarizes the theoretical and practical aspects of a large class of adaptive algorithms.
Abstract: This unified survey focuses on linear discrete-time systems and explores the natural extensions to nonlinear systems. In keeping with the importance of computers to practical applications, the authors emphasize discrete-time systems. Their approach summarizes the theoretical and practical aspects of a large class of adaptive algorithms.1984 edition.
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TL;DR: Regularization networks are mathematically related to the radial basis functions, mainly used for strict interpolation tasks as mentioned in this paper, and two extensions of the regularization approach are presented, along with the approach's corrections to splines, regularization, Bayes formulation, and clustering.
Abstract: The problem of the approximation of nonlinear mapping, (especially continuous mappings) is considered. Regularization theory and a theoretical framework for approximation (based on regularization techniques) that leads to a class of three-layer networks called regularization networks are discussed. Regularization networks are mathematically related to the radial basis functions, mainly used for strict interpolation tasks. Learning as approximation and learning as hypersurface reconstruction are discussed. Two extensions of the regularization approach are presented, along with the approach's corrections to splines, regularization, Bayes formulation, and clustering. The theory of regularization networks is generalized to a formulation that includes task-dependent clustering and dimensionality reduction. Applications of regularization networks are discussed. >
3,508 citations
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