Title: Neural Network Control Of Robot Manipulators And Non-Linear Systems (Series in Systems and Control)
Publisher: CRC Press
Publication Date: 1998
Language: English
ISBN 10: 0748405968
ISBN 13: 9780748405961
Binding: Hardcover
Condition: New

About this title

Synopsis

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.

About the Author

F W Lewis (Author) , S. Jagannathan (Author) , A Yesildirak (Author)

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