THE NEURAL NETWORK APPROACH TO CONTROL OF SELF-COLLISIONS OF MULTILINK MANIPULATORS OF SAR-401ROBOT
The article describes the procedure for constructing a neural network and the application of a neural network approach to solving the problem of controlling the self-collision of multilink manipulators of the SAR-401 robot. The proposed approach is an alternative to the analytical self-collision control approach based on the application of some methods of linear and matrix algebra. It is shown that the proposed approach is faster while maintaining the given accuracy.