book

Kinematic Control of Redundant Robot Arms Using Neural Networks

April 2019

Intermediate to advanced

216 pages

7h 5m

English

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1.1 Introduction1.2 Scheme Formulation and ZNN Solutions1.3 Theoretical Analyses1.4 Computer Simulations and Verifications1.5 Summary
2.1 Introduction2.2 Preliminaries on Variable Structure Control of the Sensor–Actuator System2.3 Problem Formulation2.4 Model‐Free Control of the Euler–Lagrange System2.5 Simulation Experiment2.6 Summary
3.1 Introduction3.2 Problem Formulation3.3 A Modified Controller without Error Accumulation3.4 Performance Improvement Using Velocity Compensation3.5 Simulations3.6 Summary
4.1 Introduction4.2 Problem Formulation4.3 Nominal Neural Controller Design4.4 A Novel Dual Neural Network Model4.5 Simulations4.6 Summary

5.1 Introduction5.2 Problem Formulation5.3 Dual Neural Networks for the Nominal System5.4 Neural Design in the Presence of Noises5.5 Simulations5.6 Summary
6.1 Introduction6.2 Preliminaries6.3 Problem Formulation6.4 Reformulation as a Constrained Quadratic Program6.5 Neural Networks for Redundancy Resolution6.6 Illustrative Examples6.7 Summary
7.1 Introduction7.2 Preliminaries7.3 Robot Kinematics7.4 Problem Formulation as Constrained Optimization7.5 Dynamic Neural Network Model7.6 Theoretical Results7.7 Numerical Investigation7.8 Summary
8.1 Introduction8.2 Kinematic Modeling of Stewart Platforms8.3 Recurrent Neural Network Design8.4 Numerical Investigation8.5 Summary
9.1 Introduction9.2 Preliminaries9.3 Problem Formulation and Distributed Scheme9.4 NTZNN Solver and Theoretical Analyses9.5 Illustrative Examples9.6 Summary
10.1 Introduction10.2 Preliminaries, Problem Formulation, and Distributed Scheme10.3 NANTZNN Solver and Theoretical Analyses10.4 Illustrative Examples10.5 Summary

List of Tables

1.1	Comparison of ZNN‐based and gradient‐based techniques for solving .
3.1	Summary of the Denavit–Hartenberg parameters of the PUMA 560 manipulator used in the simulation.
3.2	Comparisons of different RNN algorithms for the tracking control of a PUMA 560 manipulator.
3.3	The RMS position tracking errors of the different controllers.
4.1	Summary of the Denavit–Hartenberg parameters of the PUMA 560 manipulator used in the simulation.
5.1	Summary of the Denavit–Hartenberg parameters of the PUMA manipulator used in the simulation.
7.1	Comparisons of different methods for kinematic control of Stewart platforms.
9.1	Comparison of different schemes for redundancy resolution of manipulators.