KINETIC TRACK LEARNING AND GENERATING DEVICE FOR NON-LINEAR SYSTEM

摘要

PURPOSE:To obtain a smooth dynamic system kinetic track generating system by using a reference for securing smoothness of a kinetic track for minimizing the number of evaluations of an integration, etc., extending over the kinetic time of the square of the degree of jump, a time variation of torque and the time variation of force. CONSTITUTION:When a function L is defined as shown by an expression I, a first term of this function requests a fact that the fingers reach a target position, and becomes the discrete expression of an evaluation function CT of the smallest model of a torque variation. Accordingly, when the function L becomes the smallest, a neural circuit generates torque for realizing a track in which the variation of torque is the smallest in the tracks in which the fingers reach the target position, in the nerve cell of a first layer. When it is given to as manipulator 4, the fingers avoid an obstacle, pass through a through-point and reach the target position, and also, a smooth track can be generated automatically.