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Neural Network Control Of Robot Manipulators And Non-Linear Systems
Hardcover
Series: Systems and Control
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ISBN10: 0748405968
ISBN13: 9780748405961
Publisher: CRC Press
Published: Nov 30 1998
Pages: 466
Weight: 2.32
Height: 1.08 Width: 6.95 Depth: 9.99
Language: English
ISBN13: 9780748405961
Publisher: CRC Press
Published: Nov 30 1998
Pages: 466
Weight: 2.32
Height: 1.08 Width: 6.95 Depth: 9.99
Language: English
There has been great interest in universal controllers that mimic the functions of human processes to learn about the systems they are controlling on-line so that performance improves automatically. Neural network controllers are derived for robot manipulators in a variety of applications including position control, force control, link flexibility stabilization and the management of high-frequency joint and motor dynamics. The first chapter provides a background on neural networks and the second on dynamical systems and control. Chapter three introduces the robot control problem and standard techniques such as torque, adaptive and robust control. Subsequent chapters give design techniques and Stability Proofs For NN Controllers For Robot Arms, Practical Robotic systems with high frequency vibratory modes, force control and a general class of non-linear systems. The last chapters are devoted to discrete- time NN controllers. Throughout the text, worked examples are provided.
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