Control of flexible-link manipulators using neural networks

H.A. Talebi, R.V. Patel, and K. Khorasani

Control of Flexible-link Manipulators Using Neural Networks addresses the difficulties that arise in controlling the end-point of a manipulator that has a significant amount of structural flexibility in its links. The non-minimum phase characteristic, coupling effects, nonlinearities, parameter variations and unmodeled dynamics in such a manipulator all contribute to these difficulties. Control strategies that ignore these uncertainties and nonlinearities generally fail to provide satisfactory closed-loop performance. This monograph develops and experimentally evaluates several intelligent (neural network based) control techniques to address the problem of controlling the end-point of flexible-link manipulators in the presence of all the aforementioned difficulties. To highlight the main issues, a very flexible-link manipulator whose hub exhibits a considerable amount of friction is considered for the experimental work. Four different neural network schemes are proposed and implemented on the experimental test-bed. The neural networks are trained and employed as online controllers.

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[目次]

  • Manipulator model.- Output redefinition.- Proposed neural network structures.- Experimental results.

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この本の情報

書名 Control of flexible-link manipulators using neural networks
著作者等 Patel, R. V.
Khorasani K.
Patel R.V.
Talebi Heidar A.
Talebi H. A.
シリーズ名 Lecture notes in control and information sciences
出版元 Springer
刊行年月 2001
ページ数 xviii, 142 p.
大きさ 24 cm
ISBN 1852334096
NCID BA5078151X
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言語 英語
出版国 イギリス
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