عنوان
پدید آورنده
موضوع
رده
TJ211.412 .L574 2019
TJ211
.
412
.
L574
2019
کتابخانه
محل استقرار
INTERNATIONAL STANDARD BOOK NUMBER
(Number (ISBN
1119556988
(Number (ISBN
9781119556985
Erroneous ISBN
1119556961
Erroneous ISBN
9781119556961
TITLE AND STATEMENT OF RESPONSIBILITY
Title Proper
Kinematic Control of Redundant Robot Arms Using Neural Networks :
General Material Designation
[Book]
Other Title Information
a Theoretical Study.
.PUBLICATION, DISTRIBUTION, ETC
Place of Publication, Distribution, etc.
Newark :
Name of Publisher, Distributor, etc.
John Wiley & Sons, Incorporated,
Date of Publication, Distribution, etc.
2019.
PHYSICAL DESCRIPTION
Specific Material Designation and Extent of Item
1 online resource (217 pages)
GENERAL NOTES
Text of Note
6.5.3 Convergence Analysis
CONTENTS NOTE
Text of Note
Intro; Title Page; Copyright Page; Contents; List of Figures; List of Tables; Preface; Acknowledgments; Part I Neural Networks for Serial Robot Arm Control; Chapter 1 Zeroing Neural Networks for Control; 1.1 Introduction; 1.2 Scheme Formulation and ZNN Solutions; 1.2.1 ZNN Model; 1.2.2 Nonconvex Function Activated ZNN Model; 1.3 Theoretical Analyses; 1.4 Computer Simulations and Verifications; 1.4.1 ZNN for Solving (1.13) at t = 1; 1.4.2 ZNN for Solving (1.13) with Different Bounds; 1.5 Summary; Chapter 2 Adaptive Dynamic Programming Neural Networks for Control; 2.1 Introduction
Text of Note
2.2 Preliminaries on Variable Structure Control of the Sensor-Actuator System2.3 Problem Formulation; 2.4 Model-Free Control of the Euler-Lagrange System; 2.4.1 Optimality Condition; 2.4.2 Approximating the Action Mapping and the Critic Mapping; 2.5 Simulation Experiment; 2.5.1 The Model; 2.5.2 Experiment Setup and Result; 2.6 Summary; Chapter 3 Projection Neural Networks for Robot Arm Control; 3.1 Introduction; 3.2 Problem Formulation; 3.3 A Modified Controller without Error Accumulation; 3.3.1 Existing RNN Solutions; 3.3.2 Limitations of Existing RNN Solutions; 3.3.3 The Presented Algorithm
Text of Note
3.3.4 Stability3.4 Performance Improvement Using Velocity Compensation; 3.4.1 A Control Law with Velocity Compensation; 3.4.2 Stability; 3.5 Simulations; 3.5.1 Regulation to a Fixed Position; 3.5.2 Tracking of Time-Varying References; 3.5.3 Comparisons; 3.6 Summary; Chapter 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; 4.4.1 Neural Network Design; 4.4.2 Stability; 4.5 Simulations; 4.5.1 Simulation Setup; 4.5.2 Simulation Results; 4.5.2.1 Tracking Performance
Text of Note
4.5.2.2 With vs. Without Excitation Noises4.6 Summary; Chapter 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; 5.3.1 Neural Network Design; 5.3.2 Convergence Analysis; 5.4 Neural Design in the Presence of Noises; 5.4.1 Polynomial Noises; 5.4.1.1 Neural Dynamics; 5.4.1.2 Practical Considerations; 5.4.2 Special Cases; 5.4.2.1 Constant Noises; 5.4.2.2 Linear Noises; 5.5 Simulations; 5.5.1 Simulation Setup; 5.5.2 Nominal Situation; 5.5.3 Constant Noises; 5.5.4 Time-Varying Polynomial Noises
Text of Note
5.6 SummaryChapter 6 Using Neural Networks to Avoid Robot Singularity; 6.1 Introduction; 6.2 Preliminaries; 6.3 Problem Formulation; 6.3.1 Manipulator Kinematics; 6.3.2 Manipulability; 6.3.3 Optimization Problem Formulation; 6.4 Reformulation as a Constrained Quadratic Program; 6.4.1 Equation Constraint: Speed Level Resolution; 6.4.2 Redefinition of the Objective Function; 6.4.3 Set Constraint; 6.4.4 Reformulation and Convexification; 6.5 Neural Networks for Redundancy Resolution; 6.5.1 Conversion to a Nonlinear Equation Set; 6.5.2 Neural Dynamics for Real-Time Redundancy Resolution
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OTHER EDITION IN ANOTHER MEDIUM
Title
Kinematic Control of Redundant Robot Arms Using Neural Networks : A Theoretical Study.
International Standard Book Number
9781119556961
TOPICAL NAME USED AS SUBJECT
Manipulators (Mechanism)-- Automatic control.
Redundancy (Engineering)-- Data processing.
Robots-- Kinematics-- Data processing.
DEWEY DECIMAL CLASSIFICATION
Number
629
.
895632
Edition
23
LIBRARY OF CONGRESS CLASSIFICATION
Class number
TJ211
.
412
Book number
.
L574
2019
PERSONAL NAME - PRIMARY RESPONSIBILITY
Li, Shuai.
PERSONAL NAME - ALTERNATIVE RESPONSIBILITY
Jin, Long.
Mirza, Mohammed Aquil.
ORIGINATING SOURCE
Date of Transaction
20200822154743.0
Cataloguing Rules (Descriptive Conventions))
pn
ELECTRONIC LOCATION AND ACCESS
Electronic name
مطالعه متن کتاب [Book]
Y
