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  • Open Daily: 10am - 10pm
    Alley-side Pickup: 10am - 7pm

    3038 Hennepin Ave Minneapolis, MN
    612-822-4611

Open Daily: 10am - 10pm | Alley-side Pickup: 10am - 7pm
3038 Hennepin Ave Minneapolis, MN
612-822-4611
Control of Flexible-Link Manipulators Using Neural Networks

Control of Flexible-Link Manipulators Using Neural Networks

Talebi, H. a.
Patel, R. V.
Khorasani, K.

Paperback

Series: Lecture Notes in Control and Information Sciences, Book 261

Technology & Engineering

ISBN10: 1852334096
ISBN13: 9781852334093
Publisher: Springer Nature
Published: Jan 29 2001
Pages: 150
Weight: 0.57
Height: 0.56 Width: 6.18 Depth: 9.12
Language: English
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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