Wei Chang

Publication Date

1996

Document Type

Dissertation/Thesis

Degree Name

M.S. (Master of Science)

Legacy Department

Department of Electrical Engineering

LCSH

Manipulators (Mechanism); Neural networks (Computer science); Electronic control

Abstract

In this thesis a new approach of nonlinear position control is applied to structurally elastic multi-link manipulators. The general discrete dynamics of structurally elastic manipulators are first derived. Then the dynamical neural networks is introduced to achieve the position control of the manipulators. The neural-network-based controllers are trained on-line to control the manipulators. During on-line control, the coefficients of the neural-network-based controllers are also adapted based on the difference between the defined trajectory and the output of the elastic manipulators. Analysis and computer simulations are done to show the effectiveness of the design. Different conditions are used to test the neural-networkbased controllers.

Comments

Includes bibliographical references (pages [82]-86)

Extent

xvi, 108 pages

Language

eng

Publisher

Northern Illinois University

Rights Statement

In Copyright

Rights Statement 2

NIU theses are protected by copyright. They may be viewed from Huskie Commons for any purpose, but reproduction or distribution in any format is prohibited without the written permission of the authors.

Media Type

Text

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