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|a 9781846285721
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|a 10.1007/BFb0110411
|2 doi
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| 100 |
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|a Talebi, H.A.
|e author.
|4 aut
|4 http://id.loc.gov/vocabulary/relators/aut
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| 245 |
1 |
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|a Control of Flexible-link Manipulators Using Neural Networks
|h [electronic resource] /
|c by H.A. Talebi, R.V. Patel, K. Khorasani.
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| 250 |
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|a 1st ed. 2001.
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| 264 |
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1 |
|a London :
|b Springer London :
|b Imprint: Springer,
|c 2001.
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| 300 |
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|a XVIII, 150 p.
|b online resource.
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| 490 |
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|a Lecture Notes in Control and Information Sciences,
|x 0170-8643 ;
|v 261
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| 490 |
1 |
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|a Springer eBook Collection
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| 505 |
0 |
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|a Manipulator model -- Output redefinition -- Proposed neural network structures -- Experimental results.
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| 520 |
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|a 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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| 590 |
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|a Loaded electronically.
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| 590 |
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|a Electronic access restricted to members of the Holy Cross Community.
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| 650 |
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|a Control engineering.
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| 650 |
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|a Robotics.
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| 650 |
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|a Mechatronics.
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| 690 |
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|a Electronic resources (E-books)
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| 700 |
1 |
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|a Patel, R.V.
|e author.
|4 aut
|4 http://id.loc.gov/vocabulary/relators/aut
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| 700 |
1 |
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|a Khorasani, K.
|e author.
|4 aut
|4 http://id.loc.gov/vocabulary/relators/aut
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| 710 |
2 |
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|a SpringerLink (Online service)
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| 830 |
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|a Lecture Notes in Control and Information Sciences,
|x 0170-8643 ;
|v 261
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| 830 |
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0 |
|a Springer eBook Collection.
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| 856 |
4 |
0 |
|u https://holycross.idm.oclc.org/login?auth=cas&url=https://doi.org/10.1007/BFb0110411
|3 Click to view e-book
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