ADAPTIVE NEURAL NETWORK CONTROL OF ROBOTIC MANIPULATORS (World Scientific Robotics and Intelligent Systems)

S S Ge, T H Lee & C J Harris

ISBN 10: 981023452X ISBN 13: 9789810234522

Verlag: World Scientific Publishing Company, 1998

Sprache: Englisch

Zustand: Neu Hardcover

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Bibliografische Details

Titel

ADAPTIVE NEURAL NETWORK CONTROL OF ROBOTIC MANIPULATORS (World Scientific Robotics and Intelligent Systems)

Verlag

World Scientific Publishing Company

Erscheinungsjahr

1998

Sprache

Englisch

ISBN-10

981023452X

ISBN-13

9789810234522

Einband

Hardcover

Zustand

New

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Inhaltsangabe

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.

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