Control Of Flexible Link Manipulators Using Neural Networks
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Control Of Flexible Link Manipulators Using Neural Networks
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Author : H.A. Talebi
language : en
Publisher: Springer Science & Business Media
Release Date : 2001-01-29
Control Of Flexible Link Manipulators Using Neural Networks written by H.A. Talebi and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2001-01-29 with Technology & Engineering categories.
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.
Control Of Flexible Link Manipulators Using Neural Networks
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Author : H.A. Talebi
language : en
Publisher: Springer
Release Date : 2014-03-12
Control Of Flexible Link Manipulators Using Neural Networks written by H.A. Talebi and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-03-12 with Technology & Engineering categories.
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.
Flexible Robot Manipulators
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Author : M. Osman Tokhi
language : en
Publisher: IET
Release Date : 2008-05-20
Flexible Robot Manipulators written by M. Osman Tokhi and has been published by IET this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-05-20 with Technology & Engineering categories.
This book discusses the latest developmens in modelling, simulation and control of flexible robot manipulators. Coverage includes an overall review of previously developed methodologies, a range of modelling approaches including classical techniques, parametric and neuromodelling approaches and numerical modelling/simulation techniques.
Robust Control Algorithms For Two Link Flexible Manipulators
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Author : Kshetrimayum Lochan
language : en
Publisher: CRC Press
Release Date : 2024-10-13
Robust Control Algorithms For Two Link Flexible Manipulators written by Kshetrimayum Lochan and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-10-13 with Technology & Engineering categories.
Various modelling and control of two-link flexible manipulators are presented in this book. The lumped parameter modelling method and the assumed modes method modelling are comprehensively reviewed. The book also reviews the trajectory tracking problem and tip trajectory tracking problem along with the suppression of tip deflection of the links. An exponential time varying signal and a chaotic signal are considered as the desired trajectories. The identical/ non-identical slave manipulator is synchronised with the controlled master manipulator so that the slave manipulator indirectly follows the desired manipulator.
Neural Network Control Of Robot Manipulators And Non Linear Systems
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Author : F W Lewis
language : en
Publisher: CRC Press
Release Date : 1998-11-30
Neural Network Control Of Robot Manipulators And Non Linear Systems written by F W Lewis and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 1998-11-30 with Technology & Engineering categories.
There has been great interest in "universal controllers" that mimic the functions of human processes to learn about the systems they are controlling on-line so that performance improves automatically. Neural network controllers are derived for robot manipulators in a variety of applications including position control, force control, link flexibility stabilization and the management of high-frequency joint and motor dynamics. The first chapter provides a background on neural networks and the second on dynamical systems and control. Chapter three introduces the robot control problem and standard techniques such as torque, adaptive and robust control. Subsequent chapters give design techniques and Stability Proofs For NN Controllers For Robot Arms, Practical Robotic systems with high frequency vibratory modes, force control and a general class of non-linear systems. The last chapters are devoted to discrete- time NN controllers. Throughout the text, worked examples are provided.
Adaptive Neural Network Control Of Robotic Manipulators
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Author : Shuzhi S. Ge
language : en
Publisher: World Scientific Series In Robotics And Intelligent Systems
Release Date : 1998
Adaptive Neural Network Control Of Robotic Manipulators written by Shuzhi S. Ge and has been published by World Scientific Series In Robotics And Intelligent Systems this book supported file pdf, txt, epub, kindle and other format this book has been release on 1998 with Technology & Engineering categories.
Recently, there has been considerable research interest in neural network control of robots, and satisfactory results have been obtained in solving some of the special issues associated with the problems of robot control in an "on-and-off" fashion. This book is dedicated to issues on adaptive control of robots based on neural networks. The text has been carefully tailored to (i) give a comprehensive study of robot dynamics, (ii) present structured network models for robots, and (iii) provide systematic approaches for neural network based adaptive controller design for rigid robots, flexible joint robots, and robots in constraint motion. Rigorous proof of the stability properties of adaptive neural network controllers is provided. Simulation examples are also presented to verify the effectiveness of the controllers, and practical implementation issues associated with the controllers are also discussed.
Control Of Underactuated Manipulators
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Author : Jundong Wu
language : en
Publisher: Springer Nature
Release Date : 2023-05-13
Control Of Underactuated Manipulators written by Jundong Wu and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-05-13 with Technology & Engineering categories.
This book investigates in detail cutting-edge technologies of underactuated manipulator control, which is a frontier topic in robotics that possesses great significance in energy conservation as well as fault tolerance for industrial applications. It is also the crucial technology associated with systems in special environments, including underwater or aerospace environments. So far, the topic of underactuated manipulator control has attracted engineers and scientists from various disciplines, such as applied physics, material, automation and robotics. Pursuing a holistic approach, the book establishes a fundamental framework for this topic, while emphasizing the importance of design and optimization in the control of underactuated manipulators. Chapters of the book cover a wide variety of manipulator systems, including vertical underactuated manipulator, planar underactuated manipulator with first-order nonholonomic constraint, planar underactuated manipulator with second-order nonholonomic constraint and flexible underactuated manipulator. The book is intended for undergraduate and graduate students that are interested in underactuated manipulators, researchers that investigate the design and optimization for controllers of underactuated manipulators and engineers working with underactuated systems.
Identification Of Nonlinear Systems Using Neural Networks And Polynomial Models
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Author : Andrzej Janczak
language : en
Publisher: Springer Science & Business Media
Release Date : 2004-11-18
Identification Of Nonlinear Systems Using Neural Networks And Polynomial Models written by Andrzej Janczak and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004-11-18 with Technology & Engineering categories.
This monograph systematically presents the existing identification methods of nonlinear systems using the block-oriented approach It surveys various known approaches to the identification of Wiener and Hammerstein systems which are applicable to both neural network and polynomial models. The book gives a comparative study of their gradient approximation accuracy, computational complexity, and convergence rates and furthermore presents some new and original methods concerning the model parameter adjusting with gradient-based techniques. "Identification of Nonlinear Systems Using Neural Networks and Polynomal Models" is useful for researchers, engineers and graduate students in nonlinear systems and neural network theory.
Robotic Manipulators And Vehicles
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Author : Gerasimos Rigatos
language : en
Publisher: Springer
Release Date : 2018-05-24
Robotic Manipulators And Vehicles written by Gerasimos Rigatos and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-05-24 with Technology & Engineering categories.
This monograph addresses problems of: • nonlinear control, estimation and filtering for robotic manipulators (multi-degree-of freedom rigid-link robots, flexible-link robots, underactuated, redundant and cooperating manipulators and closed-chain robotic mechanisms); and• nonlinear control, estimation and filtering for autonomous robotic vehicles operating on the ground, in the air, and on and under water, independently and in cooperating groups. The book is a thorough treatment of the entire range of applications of robotic manipulators and autonomous vehicles. The nonlinear control and estimation methods it develops can be used generically, being suitable for a wide range of robotic systems. Such methods can improve robustness, precision and fault-tolerance in robotic manipulators and vehicles at the same time as enabling the reliable functioning of these systems under variable conditions, model uncertainty and external perturbations.
Robot Manipulators
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Author : Alex Lazinica
language : en
Publisher: BoD – Books on Demand
Release Date : 2010-04-01
Robot Manipulators written by Alex Lazinica and has been published by BoD – Books on Demand this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-04-01 with Technology & Engineering categories.
Robot manipulators are developing more in the direction of industrial robots than of human workers. Recently, the applications of robot manipulators are spreading their focus, for example Da Vinci as a medical robot, ASIMO as a humanoid robot and so on. There are many research topics within the field of robot manipulators, e.g. motion planning, cooperation with a human, and fusion with external sensors like vision, haptic and force, etc. Moreover, these include both technical problems in the industry and theoretical problems in the academic fields. This book is a collection of papers presenting the latest research issues from around the world.