Solving an end-effector positioning problem by Hopfield neural network

  • S. Cavalieri
  • M. Martini
Neural Networks for Communications and Control
Part of the Lecture Notes in Computer Science book series (LNCS, volume 930)


The paper proposes application of a Hopfield network to optimization of the movement of a 3R planar robot. More specifically, the network is used to solve a typically complex problem from the computational point of view — determination of the positions of the robot along a certain trajectory — in such a way as to minimize the final end-effector positioning error. The paper illustrates the methodology followed to solve this problem and discusses the results that can be obtained by using the neural solution proposed.


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Copyright information

© Springer-Verlag Berlin Heidelberg 1995

Authors and Affiliations

  • S. Cavalieri
    • 1
  • M. Martini
    • 1
  1. 1.Facolta' di Ingegneria Istituto di Informatica e TelecomunicazioniUniversita' di CataniaCataniaItaly

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