Adaptive neural network control of robotic manipulators
Shuzhi S. Ge, Tong H. Lee, Christopher J. Harris - Collection Series in robotics and intelligent systems
396 pages, parution le 27/02/1999
Résumé
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" fasion. This text is dedicated to issues on
adaptive control of robots based on neural networks. The
text has been tailored to give a comprehensive study of
robot dynamics, present structured network models for
robots, and 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.
Caractéristiques techniques
| PAPIER | |
| Éditeur(s) | World Scientific |
| Auteur(s) | Shuzhi S. Ge, Tong H. Lee, Christopher J. Harris |
| Collection | Series in robotics and intelligent systems |
| Parution | 27/02/1999 |
| Nb. de pages | 396 |
| EAN13 | 9789810234522 |
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