Control of Flexible-link Manipulators Using Neural Networks - Couverture souple

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

Couverture souple

ISBN 10 : 1852334096 ISBN 13 : 9781852334093

Editeur : Springer, 2008

Synopsis

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.

Détails de l'édition

• Éditeur: Springer
• Date d'édition: 2008
• Langue: anglais
• ISBN 10: 1852334096
• ISBN 13: 9781852334093
• Reliure: Broché
• Nombre de pages: 168
• Coordonnées du fabricant: non disponible
• Personne responsable: CMN Printpool Inh. Mathis Neumann; https://www.also.com/ec/cms5/en_6000/6000/index.jsp; ; Friedrich-Karl-Str. 9; Hamburg; Allemagne