Endpoint position control using biological concepts

Abstract

A biologically inspired algorithm is refined for position control of a multilink robotic manipulator. In this approach, changes in joint angles are computed by a method of successive forward approximation in a manner that is naturally parallel and very simple. Improvements to the algorithm provide nearly uniform convergence for all motions regardless of direction and location in the workspace. Neural networks may be used to further improve trajectory control.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>