Rough level planning method for a robot using SOFM neural network

Kimmo Pulakka, Veli Kujanpää

    Research output: Contribution to journalArticleScientificpeer-review

    5 Citations (Scopus)


    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.
    Original languageEnglish
    Pages (from-to)415-423
    Issue number4
    Publication statusPublished - 1998
    MoE publication typeNot Eligible


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