Abstract of FKI-171-92

Document-Name:  fki-171-92.ps.gz
Title:          Concept of an integrated Trajectory Generation System
Authors:        Martin Eldracher 
                Daniel Hernandez 
                Margit Kinder 
Revision-Date:  1992/11/11
Category:       Technical Report (Forschungsberichte Künstliche Intelligenz)
Abstract:       We aim at building a joint space trajectory generation
                system.  Connected to a fixed manipulator with sensory
                feedback, neural networks are expected to move the
                end-effector from any start to any goal configuration
                without colliding with obstacles.  The output of our
                system is a series of consecutive configurations
                yielding a joint-space trajectory.  Sensory
                information serves as the only source of knowledge
                about the manipulator's kinematics and the trajectory
                features. This knowledge will gradually be
                incorporated into the trajectory retrieval system.
Keywords:       trajectory generation and storage, neural control,
                manipulator, modeling.
Size:           18 pages
Language:       English
ISSN:           0941-6358
Copyright:      The ``Forschungsberichte Künstliche Intelligenz''
                series includes primarily preliminary publications,
                specialized partial results, and supplementary
                material. In the interest of a subsequent final
                publication these reports should not be copied. All
                rights and the responsability for the contents of the
                report are with the authors, which would appreciate
                critical comments.


Gerhard Weiss