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Knowledge-Based Control with Application to Robots: Lecture Notes in Control and Information Sciences, cartea 123

Autor Clarence W. DeSilva, Alistair G.J. MacFarlane
en Limba Engleză Paperback – 16 iun 1989
This monograph considers the integration of knowledge-based soft control with hard control algorithms. As a specific application, the development of a knowledge-based controller for robotic manipulators is addressed. Servo control alone is known to be inadequate for nonlinear and high-speed processes including robots. Furthermore, knowledge-based control such as fuzzy control, when directly included in the servo loop, has produced insatisfactory performance in research robots. These considerations, along with the fact that human experts can very effectively perform tuning functions in process controllers, form the basis for the control structure proposed in this work. The book is suitable for students, researchers and practising professionals in the fields of Automatic Control and Robotics. The material is presented in simple and clear language with sufficient introductory information. Someone with an undergraduate knowledge in dynamics and control should be able to use the book without any difficulty.
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Specificații

ISBN-13: 9783540511434
ISBN-10: 3540511431
Pagini: 212
Ilustrații: X, 199 p. 3 illus.
Dimensiuni: 170 x 244 x 11 mm
Greutate: 0.35 kg
Editura: Springer Berlin, Heidelberg
Colecția Springer
Seria Lecture Notes in Control and Information Sciences

Locul publicării:Berlin, Heidelberg, Germany

Public țintă

Research

Cuprins

Background.- Dynamic formulation of robot behaviour.- Fuzzy logic.- Control structure.- System development.- Performance evaluation.- Conclusions.