{"id":12667,"date":"2021-11-15T18:34:14","date_gmt":"2021-11-15T23:34:14","guid":{"rendered":"https:\/\/carleton.ca\/scs\/?page_id=12667"},"modified":"2026-06-02T14:59:26","modified_gmt":"2026-06-02T18:59:26","slug":"tr-133-narm-the-design-of-a-neural-robot-arm-controller","status":"publish","type":"page","link":"https:\/\/carleton.ca\/scs\/research\/scs-technical-reports\/technical-reports-1988\/tr-133-narm-the-design-of-a-neural-robot-arm-controller\/","title":{"rendered":"TR-133: NARM: The Design of a Neural Robot Arm Controller"},"content":{"rendered":"\n<section class=\"w-screen px-6 cu-section cu-section--white ml-offset-center md:px-8 lg:px-14\">\n    <div class=\"space-y-6 cu-max-w-child-5xl  md:space-y-10 cu-prose-first-last\">\n\n            <div class=\"cu-textmedia flex flex-col lg:flex-row mx-auto gap-6 md:gap-10 my-6 md:my-12 first:mt-0 max-w-5xl\">\n        <div class=\"justify-start cu-textmedia-content cu-prose-first-last\" style=\"flex: 0 0 100%;\">\n            <header class=\"font-light prose-xl cu-pageheader md:prose-2xl cu-component-updated cu-prose-first-last\">\n                                    <h1 class=\"cu-prose-first-last font-semibold !mt-2 mb-4 md:mb-6 relative after:absolute after:h-px after:bottom-0 after:bg-cu-red after:left-px text-3xl md:text-4xl lg:text-5xl lg:leading-[3.5rem] pb-5 after:w-10 text-cu-black-700 not-prose\">\n                        TR-133: NARM: The Design of a Neural Robot Arm Controller\n                    <\/h1>\n                \n                                \n                            <\/header>\n\n                    <\/div>\n\n            <\/div>\n\n    <\/div>\n<\/section>\n\n<p>Carleton University<br>\n<a href=\"https:\/\/carleton.ca\/scs\/research\/scs-technical-reports\/technical-reports-1988\/\">Technical Report<\/a> <strong>TR-133<\/strong><br>\nApril 1988<\/p>\n\n\n\n<h2 id=\"narm-the-design-of-a-neural-robot-arm-controller\" class=\"wp-block-heading tr_t1\">NARM: The Design of a Neural Robot Arm Controller<\/h2>\n\n\n\n<div class=\"tr_t3\">\n<div class=\"tr_t3\">\n<div class=\"tr_t3\">Daryl H. Graf &amp; Wilf LaLonde<\/div>\n<\/div>\n<\/div>\n\n\n\n<div>\n<h3>Abstract<\/h3>\n<p>This paper presents an approach for the collision-free comrol of general robot manipulators moving among a changing set of obstacles. The Neural Adaptive Robot Manipulator (NARM) controller, based on a layered, neural network architecture, adapts to the specific eye\/hand and arm\/body kinematics of any arbitrarily shaped robot during an initial, unsupervised training phase. After training, the robot selects a target point by &#8220;glancing&#8221; at it and the controller moves the end-effector into position. Collision-free movement is produced regardless of the number or arrangement of obstacles in the workspace. Moreover, no additional learning is required if the obstacle set is changed. This approach has several advantages over traditional algorithmic solutions and extends previous work on neural manipulator control. Results of a simulation are presented.<\/p>\n<\/div>\n\n\n\n<p><a href=\"https:\/\/carleton.ca\/scs\/wp-content\/uploads\/sites\/260\/tr-133.pdf\">TR-133.pdf<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Carleton University Technical Report TR-133 April 1988 NARM: The Design of a Neural Robot Arm Controller Daryl H. Graf &amp; Wilf LaLonde Abstract This paper presents an approach for the collision-free comrol of general robot manipulators moving among a changing set of obstacles. The Neural Adaptive Robot Manipulator (NARM) controller, based on a layered, neural [&hellip;]<\/p>\n","protected":false},"author":2,"featured_media":0,"parent":11829,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_acf_changed":false,"_cu_dining_location_slug":"","footnotes":"","_links_to":"","_links_to_target":""},"cu_page_type":[],"class_list":["post-12667","page","type-page","status-publish","hentry"],"acf":{"cu_post_thumbnail":false},"_links":{"self":[{"href":"https:\/\/carleton.ca\/scs\/wp-json\/wp\/v2\/pages\/12667","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/carleton.ca\/scs\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/carleton.ca\/scs\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/carleton.ca\/scs\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/carleton.ca\/scs\/wp-json\/wp\/v2\/comments?post=12667"}],"version-history":[{"count":2,"href":"https:\/\/carleton.ca\/scs\/wp-json\/wp\/v2\/pages\/12667\/revisions"}],"predecessor-version":[{"id":12673,"href":"https:\/\/carleton.ca\/scs\/wp-json\/wp\/v2\/pages\/12667\/revisions\/12673"}],"up":[{"embeddable":true,"href":"https:\/\/carleton.ca\/scs\/wp-json\/wp\/v2\/pages\/11829"}],"wp:attachment":[{"href":"https:\/\/carleton.ca\/scs\/wp-json\/wp\/v2\/media?parent=12667"}],"wp:term":[{"taxonomy":"cu_page_type","embeddable":true,"href":"https:\/\/carleton.ca\/scs\/wp-json\/wp\/v2\/cu_page_type?post=12667"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}