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Book synopsis

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.

Book details

Book category Books in English Technology, engineering, agriculture Electronics & communications engineering Electronics engineering

• Full title: Control of Flexible-link Manipulators Using Neural Networks
• Author: H. A. Talebi, R. V. Patel, K. Khorasani
• Language: English
• Binding: Paperback
• Number of pages: 150
• EAN: 9781852334093
• ISBN: 1852334096
• ID: 01435226
• Publisher: Springer London Ltd
• Weight: 540 g
• Dimensions: 235 × 155 × 10 mm
• Date of publishing: 29. January 2001

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