| 书目名称 | Control of Flexible-link Manipulators Using Neural Networks |
| 编辑 | H. A. Talebi,R. V. Patel,K. Khorasani |
| 视频video | http://file.papertrans.cn/238/237437/237437.mp4 |
| 概述 | Authors well known in their field.Up-to-date experimental evaluations included |
| 丛书名称 | Lecture Notes in Control and Information Sciences |
| 图书封面 |  |
| 描述 | .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. |
| 出版日期 | Book 2001 |
| 关键词 | Flexible-link manipulators; Robotics; control; control theory; mechatronics; neural networks |
| 版次 | 1 |
| doi | https://doi.org/10.1007/BFb0110411 |
| isbn_softcover | 978-1-85233-409-3 |
| isbn_ebook | 978-1-84628-572-1Series ISSN 0170-8643 Series E-ISSN 1610-7411 |
| issn_series | 0170-8643 |
| copyright | Springer-Verlag London 2001 |
|Archiver|手机版|小黑屋|
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