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Inteligentne sterowanie ramieniem manipulatora

Inteligentne sterowanie ramieniem manipulatora

Fouzia Madour

101,36 €
IVA incluido
Disponible
Editorial:
KS OmniScriptum Publishing
Año de edición:
2025
Materia
Tecnología: cuestiones generales
ISBN:
9786207839391
101,36 €
IVA incluido
Disponible

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Sobre IBD

Liczba ruchów wymaganych do osiągnięcia określonego celu za pomocą ramienia manipulatora jest bardzo duża, a funkcje dynamiczne robota są zazwyczaj złożone, nieliniowe i zmieniają się w czasie. W rezultacie konwencjonalne sterowniki nie są w stanie skutecznie kontrolować ruchów w różnych warunkach, prędkości, masy ... .Celem naszej pracy jest zaprojektowanie nieliniowego systemu opartego na sieci kontrolerów neuro-rozmytych z wykorzystaniem nadzorowanego uczenia się, do śledzenia trajektorii przez robota manipulatora. Identyfikacja struktury sieci kontrolera jest przeprowadzana przy użyciu kontrolera (ANFIS), z nowymi parametrami i nowymi wagami synaptycznymi automatycznie dostosowywanymi i regulowanymi. Na koniec przetestowano odporność proponowanego podejścia, biorąc pod uwagę zmiany parametrów.

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