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Method of processing signals within a neural network to position arobot

  • US 5,504,841 A
  • Filed: 11/19/1993
  • Issued: 04/02/1996
  • Est. Priority Date: 11/06/1990
  • Status: Expired due to Term
First Claim
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1. A method of processing signals within a Hopfield neural network to successively position a robot from an initial position to a desired position by selecting an optimum path for the robot between the initial position and the desired position, comprising the steps of:

  • storing a plurality of patterns in the Hopfield neural network, the patterns representative of paths of the robot;

    searching within the neural network for a stored pattern, the selected stored pattern representative of successive coordinates of the optimum path of the robot, the searching based upon data representative of the initial position of the robot, the desired position of the robot, undesired path coordinates and an equation of motion, the equation of motion including a term of nonlinear resistance;

    changing the value of the nonlinear resistance as a function of a periodic equation, wherein a range of absolute values of connection weights between units is limited by the equation of motion, wherein said equation of motion is expressed as
    
    
    space="preserve" listing-type="equation">mx+f(x, ω

    t)=-ε



    E(x)in which the term of said nonlinear resistance is represented by
    
    
    space="preserve" listing-type="equation">f(x, ω

    t)={d.sub.0 sin (ω

    t)+d.sub.1 }x+d.sub.2 x.sup.2 sgn (x); and

    successively positioning the robot in accordance with the selected stored pattern.

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