Exploring neural network control for robot manipulator

Mokri, Siti Salasiah and Shafie, Amir Akramin and Mustaza, Seri Mastura (2022) Exploring neural network control for robot manipulator. Penerbit Universiti Kebangsaan Malaysia, Bangi. ISBN 978-967-251-955-3

PDF - Published Version Restricted to Repository staff only Download (14MB) | Request a copy

Abstract

Robot manipulators or robotic arms are extensively used in manufacturing sectors. Not just that, they are used in space exploration, military, robotic surgery, food industry among others. The main part of a robot manipulator is the arm that is used to handle or move an object. The basic form of robot manipulator is the single link manipulator. It is nonlinear due to gravitational force, load and posture. In addition, changes in rotor resistance and friction cause uncertainties. Thus, a good, flexible control for manipulator is a required. This book explores different neural network controls for single link manipulator and their performances are presented. The controllers are Neural Network Model Reference, NARMA L2 and Globally Linearizing with PID and Dynamic Neural Network.

Item Type:	Book
Uncontrolled Keywords:	Neural Network, Robot Manipulator
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering Kulliyyah of Engineering
Depositing User:	Dr Amir Shafie
Date Deposited:	30 Jan 2024 09:32
Last Modified:	30 Jan 2024 09:32
URI:	http://irep.iium.edu.my/id/eprint/110533

Actions (login required)

View Item