Buch, Englisch, Band 261, 150 Seiten, Format (B × H): 155 mm x 233 mm, Gewicht: 263 g
Buch, Englisch, Band 261, 150 Seiten, Format (B × H): 155 mm x 233 mm, Gewicht: 263 g
Reihe: Lecture Notes in Control and Information Sciences
ISBN: 978-1-85233-409-3
Verlag: Springer
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.
Zielgruppe
Professional/practitioner
Autoren/Hrsg.
Fachgebiete
- Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Überwachungstechnik
- Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik
- Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Sensorik
- Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Bauelemente, Schaltkreise
- Mathematik | Informatik EDV | Informatik Informatik Künstliche Intelligenz Fuzzy-Systeme
Weitere Infos & Material
Manipulator model.- Output redefinition.- Proposed neural network structures.- Experimental results.
