Robotic Manipulator Control Using Neural Networks

Mahmoud Al Ashi

ISBN 10: 365928968X / ISBN 13: 9783659289682

Published by LAP LAMBERT Academic Publishing Apr 2014, 2014

About this Item

This item is printed on demand - it takes 3-4 days longer - Neuware -The learning capabilities of artificial neural networks (ANNs) to identify and emulate the behavior of complicated nonlinear systems have made them effective tools that can be utilized in intelligent adaptive control strategies. The use of ANNs in the design of trajectory tracking controllers for robotic manipulators is dated back to the 1980s. Due to the flexibility of their structure as well as the continuous development and enhancement of their self-training algorithms, the use of ANNs in the field of robotic manipulator trajectory tracking control is being considered an important research area. This textbook explains in great detail the process of designing an effective controller to enhance the trajectory tracking performance of a two degree of freedom (2-DOF) robotic arm using neural networks. Feed-forward ANNs were used in both model-based and non-model-based control strategies. Since it also includes a deep explanation of the modeling of the 2-DOF robotic arm system including its actuating DC-motors and their control using a PD controller, this textbook can also serve as an effective educational tool for both undergraduate and graduate electrical engineering students. 100 pp. Englisch.

Seller Inventory # 9783659289682

Bibliographic Details

• Title: Robotic Manipulator Control Using Neural Networks
• Publisher: LAP LAMBERT Academic Publishing Apr 2014
• Publication Date: 2014
• Language: English
• ISBN 10: 365928968X
• ISBN 13: 9783659289682
• Binding: Taschenbuch
• Condition: Neu

About this title

Synopsis

The learning capabilities of artificial neural networks (ANNs) to identify and emulate the behavior of complicated nonlinear systems have made them effective tools that can be utilized in intelligent adaptive control strategies. The use of ANNs in the design of trajectory tracking controllers for robotic manipulators is dated back to the 1980s. Due to the flexibility of their structure as well as the continuous development and enhancement of their self-training algorithms, the use of ANNs in the field of robotic manipulator trajectory tracking control is being considered an important research area. This textbook explains in great detail the process of designing an effective controller to enhance the trajectory tracking performance of a two degree of freedom (2-DOF) robotic arm using neural networks. Feed-forward ANNs were used in both model-based and non-model-based control strategies. Since it also includes a deep explanation of the modeling of the 2-DOF robotic arm system including its actuating DC-motors and their control using a PD controller, this textbook can also serve as an effective educational tool for both undergraduate and graduate electrical engineering students.

About the Author

Mahmoud M. Al Ashi, MSc. Had my BEng degree in Telecommunications from City University London in 2007. My MSc degree in Electrical Engineering was obtained from the Islamic University of Gaza in 2014. My research interests include robotic manipulator control using neural networks, Nonlinear system modeling and control, and optimization methods.