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Control of Flexible-Link Manipulators Using Neural Networks

by H. a. Talebi , R. V. Patel , K. Khorasani
Save 17% Save 17%
Current price ₹5,646.00
Original price ₹6,776.00
Original price ₹6,776.00
Original price ₹6,776.00
(-17%)
₹5,646.00
Current price ₹5,646.00

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Book cover type: Paperback
  • ISBN13: 9781852334093
  • Binding: Paperback
  • Subject: N/A
  • Publisher: Springer
  • Publisher Imprint: Springer
  • Publication Date:
  • Pages: 150
  • Original Price: USD 54.99
  • Language: English
  • Edition: 2001
  • Item Weight: 259 grams
  • BISAC Subject(s): Nanotechnology & MEMS

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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