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Controlo inteligente de um braço manipulador

Controlo inteligente de um braço manipulador

Fouzia Madour

101,36 €
IVA incluido
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Editorial:
KS OmniScriptum Publishing
Año de edición:
2025
Materia
Tecnología: cuestiones generales
ISBN:
9786207839407
101,36 €
IVA incluido
Disponible

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Sobre IBD

O número de movimentos necessários para atingir um determinado objetivo com um braço manipulador é muito grande e as funções dinâmicas do robô são geralmente complexas, não lineares e variam ao longo do tempo. Consequentemente, os controladores convencionais não são capazes de controlar eficazmente os movimentos em diferentes condições, velocidade, peso ... .O objetivo do nosso trabalho é conceber um sistema não-linear baseado numa rede de controladores neuro-fuzzy utilizando aprendizagem supervisionada, para efetuar o seguimento de trajectórias por um robô manipulador. As identificações da estrutura da rede de controladores são efectuadas utilizando o controlador (ANFIS), com novos parâmetros e novos pesos sinápticos automaticamente adaptados e ajustados. Finalmente, foi testada a robustez da abordagem proposta, tendo em conta variações nos parâmetros.

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