Kinematic Control of Redundant Robot Arms Using Neural Networks

Shuai Li, Long Jin, Mohammed Aquil Mirza

  • 出版商: IEEE
  • 出版日期: 2019-04-29
  • 定價: $3,150
  • 售價: 9.0$2,835
  • 語言: 英文
  • 頁數: 216
  • 裝訂: Hardcover - also called cloth, retail trade, or trade
  • ISBN: 1119556961
  • ISBN-13: 9781119556961
  • 相關分類: 機器人製作 Robots
  • 立即出貨 (庫存 < 3)

商品描述

Presents pioneering and comprehensive work on engaging movement in robotic arms, with a specific focus on neural networks

This book presents and investigates different methods and schemes for the control of robotic arms whilst exploring the field from all angles. On a more specific level, it deals with the dynamic-neural-network based kinematic control of redundant robot arms by using theoretical tools and simulations.

Kinematic Control of Redundant Robot Arms Using Neural Networks is divided into three parts: Neural Networks for Serial Robot Arm Control; Neural Networks for Parallel Robot Control; and Neural Networks for Cooperative Control. The book starts by covering zeroing neural networks for control, and follows up with chapters on adaptive dynamic programming neural networks for control; projection neural networks for robot arm control; and neural learning and control co-design for robot arm control. Next, it looks at robust neural controller design for robot arm control and teaches readers how to use neural networks to avoid robot singularity. It then instructs on neural network based Stewart platform control and neural network based learning and control co-design for Stewart platform control. The book finishes with a section on zeroing neural networks for robot arm motion generation.

  • Provides comprehensive understanding on robot arm control aided with neural networks
  • Presents neural network-based control techniques for single robot arms, parallel robot arms (Stewart platforms), and cooperative robot arms
  • Provides a comparison of, and the advantages of, using neural networks for control purposes rather than traditional control based methods
  • Includes simulation and modelling tasks (e.g., MATLAB) for onward application for research and engineering development

By focusing on robot arm control aided by neural networks whilst examining central topics surrounding the field, Kinematic Control of Redundant Robot Arms Using Neural Networks is an excellent book for graduate students and academic and industrial researchers studying neural dynamics, neural networks, analog and digital circuits, mechatronics, and mechanical engineering.

商品描述(中文翻譯)

本書提出了關於機器人手臂運動控制的開創性和全面的工作,特別聚焦於神經網絡。本書從各個角度探索了機器人手臂控制的不同方法和方案。在更具體的層面上,它通過使用理論工具和模擬來處理基於動態神經網絡的冗餘機器人手臂的運動學控制。

《基於神經網絡的冗餘機器人手臂運動學控制》分為三個部分:串聯機器人手臂控制的神經網絡;並聯機器人控制的神經網絡;以及合作控制的神經網絡。本書首先介紹了用於控制的歸零神經網絡,接著介紹了用於控制的自適應動態規劃神經網絡;用於機器人手臂控制的投影神經網絡;以及用於機器人手臂控制的神經學習和控制共同設計。接下來,它探討了用於機器人手臂控制的強健神經控制器設計,並教讀者如何使用神經網絡避免機器人奇異點。然後,它介紹了基於神經網絡的斯圖爾特平台控制和基於神經網絡的學習和控制共同設計斯圖爾特平台控制。本書最後介紹了用於機器人手臂運動生成的歸零神經網絡。

本書具有以下特點:
- 提供了關於機器人手臂控制的全面理解,並輔以神經網絡的幫助
- 提出了基於神經網絡的控制技術,適用於單個機器人手臂、並聯機器人手臂(斯圖爾特平台)和合作機器人手臂
- 對比了使用神經網絡和傳統控制方法進行控制的優勢
- 包含模擬和建模任務(例如MATLAB),以進一步應用於研究和工程開發

通過聚焦於神經網絡輔助的機器人手臂控制,並探討該領域的核心主題,《基於神經網絡的冗餘機器人手臂運動學控制》是研究神經動力學、神經網絡、模擬和數字電路、機電一體化和機械工程的研究生、學術和工業研究人員的優秀參考書籍。

作者簡介

SHUAI LI, PhD, is Assistant Professor in the Department of Computing at the Hong Kong Polytechnic University.

LONG JIN, PhD, is Postdoctoral Fellow in the Department of Computing at the Hong Kong Polytechnic University.

MOHAMMED AQUIL MIRZA, M.S., is a Doctorate Research Scholar with Hong Kong Polytechnic University.

作者簡介(中文翻譯)

李帥,博士,是香港理工大學計算學系的助理教授。金龍,博士,是香港理工大學計算學系的博士後研究員。穆罕默德·阿奎爾·米爾扎,碩士,是香港理工大學的博士研究學者。