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

Control of Flexible-link Manipulators Using Neural Networks

• Broschiertes Buch

Produktbeschreibung

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.

Produktdetails

• Lecture Notes in Control and Information Sciences 261
• Verlag: Springer / Springer London / Springer, Berlin
• Artikelnr. des Verlages: 978-1-85233-409-3
• 2001
• Seitenzahl: 168
• Erscheinungstermin: 29. Januar 2001
• Englisch
• Abmessung: 233mm x 155mm x 10mm
• Gewicht: 245g
• ISBN-13: 9781852334093
• ISBN-10: 1852334096
• Artikelnr.: 21695643

Inhaltsangabe

Manipulator model.- Output redefinition.- Proposed neural network structures.- Experimental results.