Control of Flexible-link Manipulators Using Neural Networks

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

ISBN 10: 1852334096 / ISBN 13: 9781852334093

Verlag: Springer, 2001

Beschreibung

pp. 168 Illus.

Bestandsnummer des Verkäufers 5275676

Bibliografische Details

• Titel: Control of Flexible-link Manipulators Using Neural Networks
• Verlag: Springer
• Erscheinungsjahr: 2001
• Sprache: Englisch
• ISBN-10: 1852334096
• ISBN-13: 9781852334093
• Einband: Softcover
• Zustand: New

Über diesen Titel

Inhaltsangabe

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.