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From: Wubbe Jan Velthuis <W.J.R.Velthuis@el.utwente.nl>
Subject: Learning control of robots
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Reply-To: W.J.R.Velthuis@el.utwente.nl
Organization: University of Twente
Date: Wed, 13 Mar 1996 12:30:04 GMT
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Xref: glinda.oz.cs.cmu.edu comp.robotics.research:496 sci.engr.control:9607 comp.ai.fuzzy:6997 comp.ai.neural-nets:30440

I'm currently doing research on the application of learning
controllers to robots. At our laboratory the following controller
structure has been developed. During operation the neural network is
trained by the feedback controller to improve the performance.This
type of controller has shown to be able to learn to accurately control
a robot and compensate for reproducable distrubances (for example
place dependant friction).  For applications see:
http://www.rt.el.utwente.nl/icontrol

                       _________
                      | neural  | 
            |-------->| network |-----
            |          ---------      |
            |             /\          |
            |             |           |
            |             ---------   |
     _____  |          __________  |  \/     _________
    | ref |---->o---->| feedback |--->o---->| process |-----> 
     -----      /\    | contr.   |           ---------    |
                |      ----------                         |
                |-----------------------------------------|

In literature little can be found on this controller structure.

  Therefore I would like to ask if there are other groups also 
  working on this type of controller or if anybody knows some 
  literature about it.

  Please mail me any information about this controller. 

THANK YOU VERY MUCH FOR YOUR ATTENTION AND YOUR RESPONSES 

	Wubbe Jan Velthuis
	Control Laboratory
	Department of Electrical Engineering
	University of Twente
	P.O.Box 217
	7500 AE Enschede
	THe Netherlands

	W.J.R.Velthuis@el.utwente.nl

--
*****   Crossposted with comp.robotics.research (moderated)  *****
  Summary: Academic, government & industry research in robotics.
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