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Wir sind gerne für Sie daControl 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.
Produkteigenschaften
- Artikelnummer: 9781852334093
- Medium: Buch
- ISBN: 978-1-85233-409-3
- Verlag: Springer
- Erscheinungstermin: 29.01.2001
- Sprache(n): Englisch
- Auflage: 2001
- Serie: Lecture Notes in Control and Information Sciences
- Produktform: Kartoniert
- Gewicht: 263 g
- Seiten: 150
- Format (B x H x T): 155 x 233 x 10 mm
- Ausgabetyp: Kein, Unbekannt