Robot Control using an Artificial Neural Network

Lingua: inglese

Editore: Diplom.De Mai 2001, 2001

3838641418 / 9783838641416

Da: BuchWeltWeit Ludwig Meier e.K., Bergisch Gladbach, GermaniaBuchWeltWeit Ludwig Meier e.K.

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This item is printed on demand - it takes 3-4 days longer - Neuware -Diploma Thesis from the year 1997 in the subject Engineering - Mechanical Engineering, grade: 1,0, Hamburg University of Applied Sciences (Allgemeiner Maschinenbau), language: English, abstract: Inhaltsangabe:Abstract:The aim of the project was to control three joints of an industrial robot in terms of its position, velocity and acceleration. The work considered the necessary hardware, principles of neural networks and controlling techniques.The hardware comprised of a robot with three DC-motors and three optical position encoders, a personal computer with a D/A card for voltage output to the robot and two D/D cards. One D/D card for receiving values from the optical encoders and one for timing.The basics of artificial neural network type perceptrons were described. The special features bias, output feedback, momentum term, adjustment of momentum factor and adjustment of learning rate for this artificial neural network type were considered.An introduction to learning and control structures using artificial neural networks were given. These were controller copying, direct modelling, direct inverse modelling, control with a model and an inverse model, forward and inverse modelling, control action feedback error learning, feedback error learning, learning and control using the plant s Jacobian.The conversion of two learning and control structures, direct inverse modelling and control action feedback error learning, was implemented in software using MS QuickBASIC 4.5 . One joint was controlled with a direct inverse model. One joint and all joints together were controlled with control action feedback error learning.The results of experiments with these learning and control structures were documented.Inhaltsverzeichnis:Table of Contents:1.Introduction82.The hardware92.1The robot92.2The computer and the software112.3The PCL-726 D/A card112.4The D/D card112.5The PCL-812 D/D card122.6The G64 rack123.Neural networks133.1The neuron133.2Conversion of neural networks143.3Learning principles of neural networks173.4Special modifications to the neural network used193.5Learning capacity224.Teaching and control techniques235.The software285.1The teaching and control program285.1.1The direct inverse modelling and trajectory estimation program295.1.2The control action feedback error learning program306.Experiments with learning and control structures316.1Direct inverse modelling316.1.1Direct inverse modelling of the waist326.1.2Trajectory estimation for the waist346.2Control action feedback error learning (CAFEL)366.2.1Control action feedback error learning of the waist376.2.2Control action feedback error learning of the shoulder396.2.3Control action feedback error learning of all joints at the same time397.Conclusions and recommendations448.Appendix478.1Symbols478.2Indices488.3Bibliography498.4Floppy disk with the program508.5Floppy disks with this report50 60 pp. Englisch.…

Codice articolo 9783838641416

Titolo
Robot Control using an Artificial Neural Network
Autore
Olaf Wandel
Editore
Diplom.De Mai 2001
Anno di pubblicazione
2001
Condizione
Neu
Rilegatura
Taschenbuch
Lingua
inglese
ISBN 10
3838641418
ISBN 13
9783838641416
Peso dell'articolo
101 grammi
Dimensioni
210x148x5 mm

BuchWeltWeit Ludwig Meier e.K.

Bergisch Gladbach, Germania

Venditore con 5 stelle

Venditore AbeBooks dal 11 gennaio 2012

Tariffe di spedizione da Germania a U.S.A.

ArticoloDa 5 a 15 giorni lavorativiDa 5 a 15 giorni lavorativi
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