ANFIS Control for Robotic Manipulators PDF Download

Author: Jimit Patel
Publisher:
ISBN: 9783846591710
Category : Fuzzy logic
Languages : en
Pages : 88

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Book Description

Author: Agustin Jimenez
Publisher: BoD – Books on Demand
ISBN: 9533070730
Category : Technology & Engineering
Languages : en
Pages : 680

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Book Description
This book presents the most recent research advances in robot manipulators. It offers a complete survey to the kinematic and dynamic modelling, simulation, computer vision, software engineering, optimization and design of control algorithms applied for robotic systems. It is devoted for a large scale of applications, such as manufacturing, manipulation, medicine and automation. Several control methods are included such as optimal, adaptive, robust, force, fuzzy and neural network control strategies. The trajectory planning is discussed in details for point-to-point and path motions control. The results in obtained in this book are expected to be of great interest for researchers, engineers, scientists and students, in engineering studies and industrial sectors related to robot modelling, design, control, and application. The book also details theoretical, mathematical and practical requirements for mathematicians and control engineers. It surveys recent techniques in modelling, computer simulation and implementation of advanced and intelligent controllers.

Author: Dan Zhang
Publisher: CRC Press
ISBN: 1498764886
Category : Science
Languages : en
Pages : 441

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Book Description
The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.

Author: Hasan Palaz
Publisher:
ISBN:
Category :
Languages : tr
Pages :

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Book Description
The main characteristics of Neural Network (NN) are to recognize patterns and to classify input, and to adapt themselves to dynamic environments by Iearning,but the mapping structure of NN in the intelligent controllers is a black box. it ispossible to understand what the box does, but not how it is done conceptually. In theother words, the resulting NN behavior in the control scheme is difficult tounderstand. In addition, Fuzzy Logic (FL) can cope with human knowledge and canperform inference, but FL does not fundamentally include Iearning mechanism.Neuro-fuzzy computing has developed for overcoming their disadvantages. Ingeneral, the NN part is used for Iearning, while fuzzy Iogic part is used forrepresenting knowledge. Adaptive Neuro-Fuzzy Inference Systems (ANFIS) hasgreatly improved the realization performance of fuzzy system and has extensively been used for identification and control purposes.it is seen that the Variable Structure Control (VSC), NN and FL methodologies are complementary for control objectives and there can be much tobe gained in using them in a combined manner for the control of nonlinear systems.The resulting controller is a nonlinear one and may be suitable to overcome the difficulties involved in using conventional VSC for nonlinear systems. As the application area of neuro-fuzzy control expands from simple systems (in the sense that there are only a few key variables, and that Iarge number of trial-and-error experiments are permitted, Iike in washing machine, air conditioners, rice cookers,etc.) to more complex systems (in the sense that there are many key variables, and that unsuccessful trial-and-error experiments are not permitted, Iike in chemical processes, power plants, robotic systems, aircrafts, etc.), there is a urgent need for systematic design method of the neuro-fuzzy VSC systems which have the following properties,1. They alleviate the chattering phenomena while maintaining sliding behaviorwith accurate tracking performance,2. They have a self organizing capability that can start from an empty rule base,3. They produce an on-line controller that means the control and Iearning take splace simultaneously 4. They have a high degree robustness and fault tolerance,5. They are stable neuro-fuzzy control system,6. They introduce structured fuzzy concept that is easy to understand,7 .They visualize the evaluation of membership functions and the rule basesduring operation,8. They enable the designer to incorporate the experiences of control strategy into controller ,9. They have a self-tuning capability that can tune its parameters in on-line.The neuro-fuzzy approaches to VSC system in this doctoral dissertation tryto solve of this kind of problems. Roughly speaking, the following ideas areproposed. For the first five requirements, A Gaussian Neuro Fuzzy Variable Structure Control (GNFVSC) scheme is presented to tackle drawbacks ofconventional VSC. This controller consists of a Gaussian Radial Basis Function NN(RBFNN), which is considered as a smooth transition between FL and NN.For the first eight requirements, the adaptive neuro-fuzzy control system is introduced to estimate an equivalent control inside the boundary Iayer by incorporating Iinguistic control rules based on knowledge of the sliding surface variable into the controller .Finally , for the ninth requirement, a self tuning neuro-fuzzy V8C system is studied to eliminate fine tuning problem of the controller .

Author: Frank L. Lewis
Publisher: CRC Press
ISBN: 9780203026953
Category : Technology & Engineering
Languages : en
Pages : 646

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Book Description
Robot Manipulator Control offers a complete survey of control systems for serial-link robot arms and acknowledges how robotic device performance hinges upon a well-developed control system. Containing over 750 essential equations, this thoroughly up-to-date Second Edition, the book explicates theoretical and mathematical requisites for controls design and summarizes current techniques in computer simulation and implementation of controllers. It also addresses procedures and issues in computed-torque, robust, adaptive, neural network, and force control. New chapters relay practical information on commercial robot manipulators and devices and cutting-edge methods in neural network control.

Author: M. Osman Tokhi
Publisher: IET
ISBN: 0863414486
Category : Technology & Engineering
Languages : en
Pages : 579

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Book Description
This book discusses the latest developmens in modelling, simulation and control of flexible robot manipulators. Coverage includes an overall review of previously developed methodologies, a range of modelling approaches including classical techniques, parametric and neuromodelling approaches and numerical modelling/simulation techniques.

Author: Jorge Benjamin Riberth Ramirez
Publisher:
ISBN:
Category :
Languages : en
Pages :

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Book Description
"A 2 degree-of-freedom (DOF) articulated robot manipulator has been modeled via MATLAB and controlled through four control techniques using real parameters (Fernando Reyes and Rafael Kelly, 1997) considering friction, Coriolis centrifugal forces, gravity and inertia matrices. Each robotic link has been commanded through a dedicated controller. For controlling the articulations two variables have been considered, position and velocity. Four control techniques have been applied for control robot dynamics, the well-known, classical PID (Minorsky, 1922) and three intelligent control approaches as Fuzzy-PID (supervisor) (H.R. Van Nauta Lemke & Wag De-zhao, 1985) , Neural Networks (NN) (Lewis, F.L., Jagannathan, S. and Yesiderek, 1999) and Adaptive Neural Fuzzy Inference System (ANFIS) (Jyh-Shing & Roger Jang , 1993). " h. vi.

Author: An-Chyau Huang
Publisher: World Scientific
ISBN: 9814307424
Category : Technology & Engineering
Languages : en
Pages : 274

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Book Description
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.

Author: Shiping Liu
Publisher: John Wiley & Sons
ISBN: 1119422485
Category : Technology & Engineering
Languages : en
Pages : 266

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Book Description
A comprehensive guide to the friction, contact and impact on robot control and force feedback mechanism Dynamics and Control of Robotic Manipulators with Contact and Friction offers an authoritative guide to the basic principles of robot dynamics and control with a focus on contact and friction. The authors discuss problems in interaction between human and real or virtual robot where dynamics with friction and contact are relevant. The book fills a void in the literature with a need for a text that considers the contact and friction generated in robot joints during their movements. Designed as a practical resource, the text provides the information needed for task planning in view of contact, impact and friction for the designer of a robot control system for high accuracy and long durability. The authors include a review of the most up-to-date advancements in robot dynamics and control. It contains a comprehensive resource to the effective design and fabrication of robot systems and components for engineering and scientific purposes. This important guide: Offers a comprehensive reference with systematic treatment and a unified framework Includes simulation and experiments used in dynamics and control of robot considering contact, impact and friction Discusses the most current tribology methodology used to treat the multiple–scale effects Contains valuable descriptions of experiments and software used Presents illustrative accounts on the methods employed to handle friction in the closed loop, including the principles, implementation, application scope, merits and demerits Offers a cohesive treatment that covers tribology and multi-scales, multi-physics and nonlinear stochastic dynamics control Written for graduate students of robotics, mechatronics, mechanical engineering, tracking control and practicing professionals and industrial researchers, Dynamics and Control of Robotic Manipulators with Contact and Friction offers a review to effective design and fabrication of stable and durable robot system and components.

Author: Yunong Zhang
Publisher: Springer Science & Business Media
ISBN: 3642375189
Category : Technology & Engineering
Languages : en
Pages : 201

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Book Description
Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. The RMP schemes are demonstrated effectively by the simulation results based on various robotic models; the experiments applying the fundamental RMP scheme to a physical robot manipulator are also presented. As the schemes and the corresponding solvers presented in the book have solved the non-repetitive motion problems existing in redundant robot manipulators, it is of particular use in applying theoretical research based on the quadratic program for redundant robot manipulators in industrial situations. This book will be a valuable reference work for engineers, researchers, advanced undergraduate and graduate students in robotics fields. Yunong Zhang is a professor at The School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China; Zhijun Zhang is a research fellow working at the same institute.