Neurofuzzy network based control of a multi-link flexible manipulator:
Saved in:
| Main Author: | |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
Aachen
Shaker
2001
|
| Series: | Berichte aus der Steuerungs- und Regelungstechnik
|
| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Item Description: | Zugl.: Bochum, Univ., Diss., 2001 |
| Physical Description: | XX, 127 S. graph. Darst. : 21 cm |
| ISBN: | 3826587154 |
Staff View
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Record in the Search Index
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| adam_text |
CONTENTS
ACKNOWLEDGMENTS
III
NOMENCLATURE
IX
EINLEITUNG
XV
1
INTRODUCTION
1
2
DYNAMIC
MODEL
OF
ROBOT
MANIPULATORS
7
2.1
RIGID-ARM
MANIPULATOR
DYNAMICS
.
7
2.2
FLEXIBLE-ARM
MANIPULATORS
.
14
2.2.1
SINGLE-LINK
FLEXIBLE
MANIPULATOR
.
14
2.2.2
MULTI-LINK
FLEXIBLE
MANIPULATORS
.
19
2.3
ACTUATOR
DYNAMICS
.
24
3
NEUROFUZZY
DESCRIPTION
OF
NONLINEAR
SYSTEMS
27
3.1
THE
UNIVERSAL
STRUCTURE
OF
NEUROFUZZY
MODELS
.
28
3.2
NEUROFUZZY
MODELS
.
31
3.2.1
TAKAGI-SUGENO
MODELS
.
32
3.2.2
RLLM
NETWORKS
.
37
3.3
SUMMARY
.
44
4
NEUROFUZZY
CONTROL
FOR
ROBOT
MANIPULATORS
47
4.1
CONTROL
OF
RIGID
MANIPULATORS
USING
NEUROFUZZY
CONTROLLERS
.
47
4.1.1
VARIANT
I
.
49
VIII
CONTENTS
4.1.2
VARIANT
II
.
52
4.1.3
SIMULATION
EXAMPLES
.
56
4.1.4
SUMMARY
.
59
4.2
CONTROL
OF
FLEXIBLE-LINK
MANIPULATORS
USING
NEUROFUZZY
CONTROLLERS
64
4.2.1
JOINT
POSITION
CONTROL
.
65
4.2.2
TIP
POSITION
CONTROL
.
70
4.2.3
SIMULATION
EXAMPLES
.
73
4.2.4
SUMMARY
.
76
5
EXPERIMENTAL
RESULTS
79
5.1
DESCRIPTION
OF
THE
FOUR-LINK
FLEXIBLE
MANIPULATOR
PLANT
.
79
5.2
APPLICATION
OF
THE
NEUROFUZZY
CONTROL
TO
THE
FLEXIBLE-LINK
MANI
PULATOR
.
83
6
CONCLUSIONS
99
ZUSAMMENFASSUNG
103
A
FUZZY
INFERENCE
SYSTEMS
107
B
NEUROFUZZY
MODELS
AS
UNIVERSAL
APPROXIMATORS
113
C
STABILITY
OF
NONLINEAR
SYSTEMS
117
BIBLIOGRAPHY
121 |
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| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
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| genre_facet | Hochschulschrift |
| id | DE-604.BV013686788 |
| illustrated | Illustrated |
| indexdate | 2024-08-13T00:14:48Z |
| institution | BVB |
| isbn | 3826587154 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-009353042 |
| oclc_num | 49194998 |
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| owner_facet | DE-355 DE-BY-UBR DE-29T DE-703 DE-83 |
| physical | XX, 127 S. graph. Darst. : 21 cm |
| publishDate | 2001 |
| publishDateSearch | 2001 |
| publishDateSort | 2001 |
| publisher | Shaker |
| record_format | marc |
| series2 | Berichte aus der Steuerungs- und Regelungstechnik |
| spelling | Caswara, Ferry Marga Verfasser aut Neurofuzzy network based control of a multi-link flexible manipulator Ferry M. Caswara Aachen Shaker 2001 XX, 127 S. graph. Darst. : 21 cm txt rdacontent n rdamedia nc rdacarrier Berichte aus der Steuerungs- und Regelungstechnik Zugl.: Bochum, Univ., Diss., 2001 Manipulators (Mechanism) Neural networks (Computer science) Mehrarmroboter (DE-588)4234433-5 gnd rswk-swf Reglerentwurf (DE-588)4177447-4 gnd rswk-swf Neuro-Fuzzy-System (DE-588)4560677-8 gnd rswk-swf Adaptivregelung (DE-588)4000457-0 gnd rswk-swf Flexible Struktur (DE-588)4399238-9 gnd rswk-swf Manipulator (DE-588)4037349-6 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Manipulator (DE-588)4037349-6 s Flexible Struktur (DE-588)4399238-9 s Mehrarmroboter (DE-588)4234433-5 s Reglerentwurf (DE-588)4177447-4 s Neuro-Fuzzy-System (DE-588)4560677-8 s Adaptivregelung (DE-588)4000457-0 s DE-604 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=009353042&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Caswara, Ferry Marga Neurofuzzy network based control of a multi-link flexible manipulator Manipulators (Mechanism) Neural networks (Computer science) Mehrarmroboter (DE-588)4234433-5 gnd Reglerentwurf (DE-588)4177447-4 gnd Neuro-Fuzzy-System (DE-588)4560677-8 gnd Adaptivregelung (DE-588)4000457-0 gnd Flexible Struktur (DE-588)4399238-9 gnd Manipulator (DE-588)4037349-6 gnd |
| subject_GND | (DE-588)4234433-5 (DE-588)4177447-4 (DE-588)4560677-8 (DE-588)4000457-0 (DE-588)4399238-9 (DE-588)4037349-6 (DE-588)4113937-9 |
| title | Neurofuzzy network based control of a multi-link flexible manipulator |
| title_auth | Neurofuzzy network based control of a multi-link flexible manipulator |
| title_exact_search | Neurofuzzy network based control of a multi-link flexible manipulator |
| title_full | Neurofuzzy network based control of a multi-link flexible manipulator Ferry M. Caswara |
| title_fullStr | Neurofuzzy network based control of a multi-link flexible manipulator Ferry M. Caswara |
| title_full_unstemmed | Neurofuzzy network based control of a multi-link flexible manipulator Ferry M. Caswara |
| title_short | Neurofuzzy network based control of a multi-link flexible manipulator |
| title_sort | neurofuzzy network based control of a multi link flexible manipulator |
| topic | Manipulators (Mechanism) Neural networks (Computer science) Mehrarmroboter (DE-588)4234433-5 gnd Reglerentwurf (DE-588)4177447-4 gnd Neuro-Fuzzy-System (DE-588)4560677-8 gnd Adaptivregelung (DE-588)4000457-0 gnd Flexible Struktur (DE-588)4399238-9 gnd Manipulator (DE-588)4037349-6 gnd |
| topic_facet | Manipulators (Mechanism) Neural networks (Computer science) Mehrarmroboter Reglerentwurf Neuro-Fuzzy-System Adaptivregelung Flexible Struktur Manipulator Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=009353042&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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