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Control of Flexible-link Manipulators Using Neural Networks, Talebi H.A., Patel R.V., Khorasani K.


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Цена: 9349р.
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Склад Англия: 413 шт.  Склад Америка: 75 шт.  
При оформлении заказа до: 10 янв 2020
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Автор: Talebi H.A., Patel R.V., Khorasani K.
Название:  Control of Flexible-link Manipulators Using Neural Networks
Издательство: Springer
Классификация:
Электронная техника
Искусственный интеллект

ISBN: 1852334096
ISBN-13(EAN): 9781852334093
ISBN: 1-85233-409-6
ISBN-13(EAN): 978-1-85233-409-3
Обложка/Формат: Paperback
Страницы: 160
Вес: 0.245 кг.
Дата издания: 29.01.2001
Серия: Lecture Notes in Control and Information Sciences
Язык: ENG
Издание: 2001 ed.
Иллюстрации: 55 black & white illustrations
Размер: 23.16 x 15.70 x 1.42 cm
Читательская аудитория: Postgraduate, research & scholarly
Ссылка на Издательство: Link
Рейтинг:
Поставляется из: Германии
Описание: 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.
Дополнительное описание: Илюстрации: 55
Круг читателей: Graduate students, practitioners, libraries, scientists
Язык: eng
Оглавление: Introduction.- Manipulator Model.- Output Redefinition.- Neural Network Structures.- Experimental Results.





Dynamic Analysis of Robot Manipulators: A Cartesian Tensor Approach (The Springer International Series in Engineering and Computer Science)

Автор: Constantinos A. Balafoutis (Author), Rajnikant V.
Название: Dynamic Analysis of Robot Manipulators: A Cartesian Tensor Approach (The Springer International Series in Engineering and Computer Science)
ISBN: 0792391454 ISBN-13(EAN): 9780792391456
Издательство: Springer
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Цена: 20477 р.
Наличие на складе: Есть у поставщика Поставка под заказ.

Описание: Thus, based on Cartesian tensor analysis, a conceptually simple, easy to implement and computationally efficient tensor methodology is presented in this monograph for studying classical rigid body dynamics.

Advanced studies of flexible robotic manipulators: modeling, design, control and applications

Название: Advanced studies of flexible robotic manipulators: modeling, design, control and applications
ISBN: 9812383905 ISBN-13(EAN): 9789812383907
Издательство: World Scientific Publishing
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Цена: 18700 р.
Наличие на складе: Поставка под заказ.

Описание: Flexible robotic manipulators pose various challenges in research as compared to rigid robotic manipulators, ranging from system design, structural optimization, and construction to modeling, sensing, and control. Although significant progress has been made in many aspects over the last one-and-a-half decades, many issues are not resolved yet, and simple, effective, and reliable controls of flexible manipulators still remain an open quest. Clearly, further efforts and results in this area will contribute significantly to robotics (particularly automation) as well as its application and education in general control engineering. To accelerate this process, the leading experts in this important area present in this book the state of the art in advanced studies of the design, modeling, control and applications of flexible manipulators.

Interaction Control of Robot Manipulators / Six-degrees-of-freedom Tasks

Автор: Natale Ciro
Название: Interaction Control of Robot Manipulators / Six-degrees-of-freedom Tasks
ISBN: 354000159X ISBN-13(EAN): 9783540001591
Издательство: Springer
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Цена: 13980 р.
Наличие на складе: Есть у поставщика Поставка под заказ.

Описание: Robot interaction control is one of the most challenging targets for industrial robotics. While it would provide the robotic systems with a high degree of autonomy, its effectiveness is limited by the complexity of this problem and by the necessity of special sensors (six-dof force sensors). On the other hand, the control methodologies to be adopted for addressing this problem can be considered mature and well-assessed. All the known interaction control strategies (e.g. impedance, direct force control) are tackled and reshuffled in a geometrically consistent way for simplification of the task specification and enhancement of the execution performance. This book represents the first step towards the application of theoretical results at an industrial level; in fact each proposed control algorithm is experimentally tested here on an industrial robotic setup.

Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory

Автор: Gallardo-Alvarado
Название: Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory
ISBN: 3319311247 ISBN-13(EAN): 9783319311241
Издательство: Springer
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Цена: 13980 р.
Наличие на складе: Есть у поставщика Поставка под заказ.

Описание: This book reviews the fundamentals of screw theory concerned with velocity analysis of rigid-bodies, confirmed with detailed and explicit proofs. The author additionally investigates acceleration, jerk, and hyper-jerk analyses of rigid-bodies following the trend of the velocity analysis. With the material provided in this book, readers can extend the theory of screws into the kinematics of optional order of rigid-bodies. Illustrative examples and exercises to reinforce learning are provided. Of particular note, the kinematics of emblematic parallel manipulators, such as the Delta robot as well as the original Gough and Stewart platforms are revisited applying, in addition to the theory of screws, new methods devoted to simplify the corresponding forward-displacement analysis, a challenging task for most parallel manipulators.

Robot Manipulators: Modeling, Performance Analysis and Control

Автор: Dombre
Название: Robot Manipulators: Modeling, Performance Analysis and Control
ISBN: 190520910X ISBN-13(EAN): 9781905209101
Издательство: Wiley
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Цена: 24976 р.
Наличие на складе: Нет в наличии.

Описание: his book presents the most recent research results on modeling and control of robot manipulators. Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models. Chapter 2 describes the main features of serial robots, the different architectures and the methods used to obtain direct and inverse geometric, kinematic and dynamic models, paying special attention to singularity analysis. Chapter 3 introduces global and local tools for performance analysis of serial robots. Chapter 4 presents an original optimization technique for point-to-point trajectory generation accounting for robot dynamics. Chapter 5 presents standard control techniques in the joint space and task space for free motion (PID, computed torque, adaptive dynamic control and variable structure control) and constrained motion (compliant force-position control). In Chapter 6, the concept of vision-based control is developed and Chapter 7 is devoted to specific issue of robots with flexible links. Efficient recursive Newton-Euler algorithms for both inverse and direct modeling are presented, as well as control methods ensuring position setting and vibration damping.

Control of Robot Manipulators in Joint Space

Автор: Kelly R., SantibГЎГ±ez V., LorГ­a A.
Название: Control of Robot Manipulators in Joint Space
ISBN: 1852339942 ISBN-13(EAN): 9781852339944
Издательство: Springer
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Цена: 7943 р.
Наличие на складе: Есть у поставщика Поставка под заказ.

Описание: Addresses robot control in depth, treating a range of model-based controllers in detail: proportional derivative; proportional integral derivative; computed torque and some adaptive variants. This book includes other areas of study important to robotics, such as kinematics, and presents case studies. It also offers auxiliary resources.

Control of Redundant Robot Manipulators / Theory and Experiments

Автор: Patel R.V., Shadpey F.
Название: Control of Redundant Robot Manipulators / Theory and Experiments
ISBN: 3540250719 ISBN-13(EAN): 9783540250715
Издательство: Springer
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Цена: 14854 р.
Наличие на складе: Есть у поставщика Поставка под заказ.

Описание: This monograph provides a comprehensive and thorough treatment of the problem of controlling a redundant robot manipulator. It presents the latest research from the field with a good balance between theory and practice. All theoretical developments are verified both via simulation and experimental work on an actual prototype redundant robot manipulator. This book is the first text aimed at graduate students and researchers working in the area of redundant manipulators giving a comprehensive coverage of control of redundant robot manipulators from the viewpoint of theory and experimentation.

Modelling and Control of Robot Manipulators

Автор: Sciavicco
Название: Modelling and Control of Robot Manipulators
ISBN: 1852332212 ISBN-13(EAN): 9781852332211
Издательство: Springer
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Цена: 7427 р.
Наличие на складе: Невозможна поставка.

Описание: Fundamental and technological topics are blended uniquely and developed clearly in nine chapters - with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step by step.Fundamental coverage includes kinematics, statics and dynamics of manipulators, and trajectory planning and motion control in free space.Technological aspects include actuators, sensors, hardware- and software-control architectures and industrial robot-control algorithms.Furthermore, established research results involving description of end-effector orientation, closed kinematic chains, kinematic redundancy and singularities, dynamic parameter identification, robust and adaptive control, and force and motion control are provided.To provide readers with a homogeneous background, three appendices are included on linear algebra, rigid-body mechanics, and feedback control.

Adaptive Control Of Robot Manipulators: A Unified Regressor-Free Approach

Автор: Huang An-Chyau & Chien Ming-Chih
Название: Adaptive Control Of Robot Manipulators: A Unified Regressor-Free Approach
ISBN: 9814307416 ISBN-13(EAN): 9789814307413
Издательство: World Scientific Publishing
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Цена: 11536 р.
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Описание: This book introduces an unified function approximation approach to the control of uncertain robot manipulators containing general uncertainties. It works for free space tracking control as well as compliant motion control. It is applicable to the rigid robot and the flexible joint robot. Even with actuator dynamics, the unified approach is still feasible. All these features make the book stand out from other existing publications.

Fundamentals in Modeling and Control of Mobile Manipulators

Автор: Li
Название: Fundamentals in Modeling and Control of Mobile Manipulators
ISBN: 1466580410 ISBN-13(EAN): 9781466580411
Издательство: Taylor&Francis
Рейтинг:
Цена: 17243 р.
Наличие на складе: Невозможна поставка.

Описание: Mobile manipulators combine the advantages of mobile platforms and robotic arms, extending their operational range and functionality to large spaces and remote, demanding, and/or dangerous environments. They also bring complexity and difficulty in dynamic modeling and control system design. However, advances in nonlinear system analysis and control system design offer powerful tools and concepts for the control of mobile manipulator systems. Fundamentals in Modeling and Control of Mobile Manipulators presents a thorough theoretical treatment of several fundamental problems for mobile robotic manipulators. The book integrates fresh concepts and state-of-the-art results to systematically examine kinematics and dynamics, motion generation, feedback control, coordination, and cooperation. From this treatment, the authors form a basic theoretical framework for a mobile robotic manipulator that extends the theory of nonlinear control and applies to more realistic problems. Drawing on their research over the past ten years, the authors propose novel control theory concepts and techniques to tackle key problems. Topics covered include kinematic and dynamic modeling, control of nonholonomic systems, path planning that considers motion and manipulation, hybrid motion/force control and hybrid position/force control where the mobile manipulator is required to interact with environments, and coordination and cooperation strategies for multiple mobile manipulators. The book also includes practical examples of applications in engineering systems. This timely book investigates important scientific and engineering issues for researchers and engineers working with either single or multiple mobile manipulators for larger operational space, better cooperation, and improved productivity.

Redundancy in Robot Manipulators and Multi-Robot Systems

Автор: Milutinovi?
Название: Redundancy in Robot Manipulators and Multi-Robot Systems
ISBN: 3642339700 ISBN-13(EAN): 9783642339707
Издательство: Springer
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Цена: 14854 р.
Наличие на складе: Есть у поставщика Поставка под заказ.

Описание: This volume is based on contributions presented at the workshop on Redundancy in Robot Manipulators and Multi-Robot Systems at the IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS 2011.

Автор: Zomaya Albert Y
Название: Modelling And Simulation Of Robot Manipulators: A Parallel Processing Approach
ISBN: 9810210434 ISBN-13(EAN): 9789810210434
Издательство: World Scientific Publishing
Рейтинг:
Цена: 8379 р.
Наличие на складе: Поставка под заказ.

Описание: This book aims to describe how parallel computer architectures can be used to enhance the performance of robots, and their great impact on future generations of robots. It provides an in-depth, consistent and rigorous treatment of the topic. A clear definition of tools with results is given which can be applied to parallel processing for robot kinematics and dynamics. Another advantageous feature is that the algorithms presented have been implemented using a parallel processing system, unlike many publications in the field which have presented results in only theoretical terms. This book also includes "benchmark" results that can be used for the development of future work, or can serve as a basis for comparison with other work. In addition, it surveys useful material to aid readers in pursuing further research.Request Inspection Copy


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