Control of Flexible-link Manipulators Using Neural Networks
(Sprache: Englisch)
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,...
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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.
Inhaltsverzeichnis zu „Control of Flexible-link Manipulators Using Neural Networks “
- Introduction- Manipulator Model
- Output Redefinition
- Neural Network Structures
- Experimental Results
Bibliographische Angaben
- Autoren: H. A. Talebi , K. Khorasani , R. V. Patel
- 2001, 168 Seiten, Maße: 15,5 x 23,3 cm, Kartoniert (TB), Englisch
- Verlag: Springer, London
- ISBN-10: 1852334096
- ISBN-13: 9781852334093
- Erscheinungsdatum: 29.01.2001
Sprache:
Englisch
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