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



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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.





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.
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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.

Nonholonomic Manipulators

Автор: Chung W.
Название: Nonholonomic Manipulators
ISBN: 3540221085 ISBN-13(EAN): 9783540221081
Издательство: Springer
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Цена: 13557 р.
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Описание: This focused monograph on nonholonomic manipulators builds upon an increasing interest in nonholonomic mechanical systems in robotics and control engineering. The scope of this book is the definition and development of new nonholonomic machines which are designed on the basis of nonlinear control theory for nonholonomic mechanical systems. A key feature of the work is the possibility to exploit nonholonomic theory to design innovative mechanical systems with a reduced number of actuators without reducing the size of their controllable space. The book offers a comprehensive treatment of the problem from the theoretical development of the various control schemes to prototyping new types of manipulators, while testing their performance by simulation and experiments in a number of significant cases.

Nonlinear H2/H-Infinity Constrained Feedback Control / A Practical Design Approach Using Neural Networks

Автор: Abu-Khalaf Murad, Huang Jie, Lewis Frank L.
Название: Nonlinear H2/H-Infinity Constrained Feedback Control / A Practical Design Approach Using Neural Networks
ISBN: 1846283493 ISBN-13(EAN): 9781846283499
Издательство: Springer
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Цена: 15728 р.
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Описание: Modern aerospace, automotive, nautical, industrial, microsystem-assembly and robotic systems are becoming more and more complex. High-performance vehicles no longer have built-in error safety margins, but are inherently unstable by design to allow for more flexible maneuvering options. With the push towards better performance in terms of greater accuracy and faster speed of response, control demands are increasing. The combination of highly nonlinear dynamics, relaxed static stability, and tight performance specifications places increasing demands on the design of feedback systems for control. Current control system design techniques have difficulty in meeting these demands.

Differential Neural Networks For Robust Nonlinear Control: Identification, State Estimation And Trajectory Tracking

Автор: Poznyak A S, Sanchez E N & Yu W
Название: Differential Neural Networks For Robust Nonlinear Control: Identification, State Estimation And Trajectory Tracking
ISBN: 9810246242 ISBN-13(EAN): 9789810246242
Издательство: World Scientific Publishing
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Цена: 21129 р.
Наличие на складе: Поставка под заказ.

Описание: This book deals with continuous time dynamic neural networks theory applied to the solution of basic problems in robust control theory, including identification, state space estimation (based on neuro-observers) and trajectory tracking. The plants to be identified and controlled are assumed to be a priori unknown but belonging to a given class containing internal unmodelled dynamics and external perturbations as well. The error stability analysis and the corresponding error bounds for different problems are presented. The effectiveness of the suggested approach is illustrated by its application to various controlled physical systems (robotic, chaotic, chemical, etc.).

Neural Networks for Modelling and Control of Dynamic Systems / A Practitioner`s Handbook

Автор: Norgaard M., Ravn O., Poulsen N.K., Hansen L.K.
Название: Neural Networks for Modelling and Control of Dynamic Systems / A Practitioner`s Handbook
ISBN: 1852332271 ISBN-13(EAN): 9781852332273
Издательство: Springer
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Цена: 7479 р.
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Описание: The technology of neural networks has attracted much attention in recent years. Their ability to learn nonlinear relationships is widely appreciated and is utilized in many different types of applications; modelling of dynamic systems, signal processing, and control system design being some of the most common. The theory of neural computing has matured considerably over the last decade and many problems of neural network design, training and evaluation have been resolved. This book provides a comprehensive introduction to the most popular class of neural network, the multilayer perceptron, and shows how it can be used for system identification and control. It aims to provide the reader with a sufficient theoretical background to understand the characteristics of different methods, to be aware of the pit-falls and to make proper decisions in all situations. The subjects treated include: System identification: multilayer perceptrons; how to conduct informative experiments; model structure selection; training methods; model validation; pruning algorithms. Control: direct inverse, internal model, feedforward, optimal and predictive control; feedback linearization and instantaneous-linearization-based controllers. Case studies: prediction of sunspot activity; modelling of a hydraulic actuator; control of a pneumatic servomechanism; water-level control in a conical tank. The book is very application-oriented and gives detailed and pragmatic recommendations that guide the user through the plethora of methods suggested in the literature. Furthermore, it attempts to introduce sound working procedures that can lead to efficient neural network solutions. This will make the book invaluable to the practitioner and as a textbook in courses with a significant hands-on component.

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.
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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.
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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.

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: Поставка под заказ.

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.
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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.

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.
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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.

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: 7947 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.


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