Control of Flexible-link Manipulators Using Neural Networks

1. Auflage 2001
ISBN: 978-1-85233-409-3
Verlag: Springer

Buch, Englisch, Band 261, 150 Seiten, Format (B × H): 155 mm x 233 mm, Gewicht: 263 g

Reihe: Lecture Notes in Control and Information Sciences

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.

Zielgruppe

Professional/practitioner

Autoren/Hrsg.

Talebi, H.A.

Patel, R.V.

Khorasani, K.

Fachgebiete

• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Überwachungstechnik
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Bauelemente, Schaltkreise
• Mathematik | Informatik EDV | Informatik Informatik Künstliche Intelligenz Fuzzy-Systeme
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Sensorik

Inhaltsverzeichnis

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