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Control of Flexible-link Manipulators Using Neural Networks

Bog
  • Format
  • Bog, paperback
  • Engelsk

Beskrivelse

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.

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Detaljer
  • SprogEngelsk
  • Sidetal150
  • Udgivelsesdato29-01-2001
  • ISBN139781852334093
  • Forlag Springer London Ltd
  • FormatPaperback
Størrelse og vægt
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10 cm
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15,5 cm
23,5 cm

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