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Part II: Neural Networks for Parallel Robot Control
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Part II: Neural Networks for Parallel Robot Control
by Mohammed Aquil Mirza, Long Jin, Shuai Li
Kinematic Control of Redundant Robot Arms Using Neural Networks
Cover
List of Figures
List of Tables
Preface
Acknowledgments
Part I: Neural Networks for Serial Robot Arm Control
1 Zeroing Neural Networks for Control
1.1 Introduction
1.2 Scheme Formulation and ZNN Solutions
1.3 Theoretical Analyses
1.4 Computer Simulations and Verifications
1.5 Summary
2 Adaptive Dynamic Programming Neural Networks for Control
2.1 Introduction
2.2 Preliminaries on Variable Structure Control of the Sensor–Actuator System
2.3 Problem Formulation
2.4 Model‐Free Control of the Euler–Lagrange System
2.5 Simulation Experiment
2.6 Summary
3 Projection Neural Networks for Robot Arm Control
3.1 Introduction
3.2 Problem Formulation
3.3 A Modified Controller without Error Accumulation
3.4 Performance Improvement Using Velocity Compensation
3.5 Simulations
3.6 Summary
4 Neural Learning and Control Co‐Design for Robot Arm Control
4.1 Introduction
4.2 Problem Formulation
4.3 Nominal Neural Controller Design
4.4 A Novel Dual Neural Network Model
4.5 Simulations
4.6 Summary
5 Robust Neural Controller Design for Robot Arm Control
5.1 Introduction
5.2 Problem Formulation
5.3 Dual Neural Networks for the Nominal System
5.4 Neural Design in the Presence of Noises
5.5 Simulations
5.6 Summary
6 Using Neural Networks to Avoid Robot Singularity
6.1 Introduction
6.2 Preliminaries
6.3 Problem Formulation
6.4 Reformulation as a Constrained Quadratic Program
6.5 Neural Networks for Redundancy Resolution
6.6 Illustrative Examples
6.7 Summary
Part II: Neural Networks for Parallel Robot Control
7 Neural Network Based Stewart Platform Control
7.1 Introduction
7.2 Preliminaries
7.3 Robot Kinematics
7.4 Problem Formulation as Constrained Optimization
7.5 Dynamic Neural Network Model
7.6 Theoretical Results
7.7 Numerical Investigation
7.8 Summary
8 Neural Network Based Learning and Control Co‐Design for Stewart Platform Control
8.1 Introduction
8.2 Kinematic Modeling of Stewart Platforms
8.3 Recurrent Neural Network Design
8.4 Numerical Investigation
8.5 Summary
Part III: Neural Networks for Cooperative Control
9 Zeroing Neural Networks for Robot Arm Motion Generation
9.1 Introduction
9.2 Preliminaries
9.3 Problem Formulation and Distributed Scheme
9.4 NTZNN Solver and Theoretical Analyses
9.5 Illustrative Examples
9.6 Summary
10 Zeroing Neural Networks for Robot Arm Motion Generation
10.1 Introduction
10.2 Preliminaries, Problem Formulation, and Distributed Scheme
10.3 NANTZNN Solver and Theoretical Analyses
10.4 Illustrative Examples
10.5 Summary
References
Index
End User License Agreement
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6 Using Neural Networks to Avoid Robot Singularity
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7 Neural Network Based Stewart Platform Control
Part II
Neural Networks for Parallel Robot Control
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