Control of Flexible-link Manipulators Using Neural Networks

Descripción

This item is printed on demand - Print on Demand Titel. Neuware -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.Springer Verlag GmbH, Tiergartenstr. 17, 69121 Heidelberg 168 pp. Englisch.

N° de ref. del artículo 9781852334093

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Detalles bibliográficos

Título

Control of Flexible-link Manipulators Using Neural Networks

Editor

Springer London, Springer London Jan 2001

Fecha de publicación

2001

Idioma

Inglés

ISBN 10

1852334096

ISBN 13

9781852334093

Encuadernación

Taschenbuch

Estado

Neu

Dimensiones

233 mm an. × 155 al. × 10 l. 233 milímetros de ancho por 155 de alto por 10 de largo

Peso

263 gramos

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