Search results for: Vicente Ruiz Angulo
chapter
We present a neural network method to calibrate automatically a commercial robot after undergoing wear or damage, which works on top of the nominal inverse kinematics embedded in its controller.
chapter
Lecture Notes in Computer Science > Artificial Neural Networks — ICANN 2001 > Data Analysis and Pattern Recognition > 33-40
This paper investigates the functional invariance of neural network learning methods. By functional invariance we mean the property of producing functionally equivalent minima as the size of the network grows, when the smoothing parameters are fixed. We study three different principles on which functional invariance can be based, and try to delimit the conditions under which each of them acts. We...
chapter
Lecture Notes in Computer Science > Computational Intelligence and Bioinspired Systems > Perception and Robotics > 701-708
We propose a technique to speed up the learning of the inverse kinematics of a robot manipulator by decomposing it into two or more virtual robot arms. Unlike previous decomposition approaches, this one does not place any requirement on the robot architecture and, thus, it is completely general. Parametrized Self-Organizing Maps (PSOM) are particularly adequate for this type of learning, and permit...
