Rough level path planning method for a robot using SOFM neural network

  • Authors:

  • Kimmo Pulakka;Veli Kujanpää

  • Affiliations:

  • Tampere University of Technology, P.O. Box 553, FIN-33101 Tampere, Finland. E-mail: Kimmo.Pulakka@cs.tut.fi;VTT Manufacturing Technology, P.O. Box 17021, FIN-53851 Lappeenranta, Finland. E-mail: Veli.Kujanpaa@vtt.fi

  • Venue:
  • Robotica
  • Year:
  • 1998

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Abstract

In this paper a path planning method for off-line programming of a joint robot is described. The method can automatically choose the easiest and safest route for an industrial robot from one position to another. The method is based on the use of a Self Organised Feature Map (SOFM) neural network. By using the SOFM neural network the method can adapt to different working environments of the robot. According to test results one can conclude that the SOFM neural network is a useful tool for the path planning problem of a robot.