Adaptive Neural Network Control Of Robotic Manipulators

Adaptive Neural Network Control Of Robotic Manipulators
Author :
Publisher : World Scientific
Total Pages : 397
Release :
ISBN-10 : 9789814496223
ISBN-13 : 9814496227
Rating : 4/5 (227 Downloads)

Book Synopsis Adaptive Neural Network Control Of Robotic Manipulators by : Sam Shuzhi Ge

Download or read book Adaptive Neural Network Control Of Robotic Manipulators written by Sam Shuzhi Ge and published by World Scientific. This book was released on 1998-12-04 with total page 397 pages. Available in PDF, EPUB and Kindle. Book excerpt: Recently, there has been considerable research interest in neural network control of robots, and satisfactory results have been obtained in solving some of the special issues associated with the problems of robot control in an “on-and-off” fashion. This book is dedicated to issues on adaptive control of robots based on neural networks. The text has been carefully tailored to (i) give a comprehensive study of robot dynamics, (ii) present structured network models for robots, and (iii) provide systematic approaches for neural network based adaptive controller design for rigid robots, flexible joint robots, and robots in constraint motion. Rigorous proof of the stability properties of adaptive neural network controllers is provided. Simulation examples are also presented to verify the effectiveness of the controllers, and practical implementation issues associated with the controllers are also discussed.


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Introduction; Mathematical background; Dynamic modelling of robots; Structured network modelling of robots; Adaptive neural network control of robots; Neural ne