Throughout the text, worked examples are provided. The last chapters are devoted to discrete- time NN controllers. Subsequent chapters give design techniques and Stability Proofs For NN Controllers For Robot Arms, Practical Robotic systems with high frequency vibratory modes, force control and a general class of non-linear systems. Chapter three introduces the robot control problem and standard techniques such as torque, adaptive and robust control. A single point of network control, which could be as small as a single software application, to a single workstation with various network monitoring tools. The first chapter provides a background on neural networks and the second on dynamical systems and control. Neural network controllers are derived for robot manipulators in a variety of applications including position control, force control, link flexibility stabilization and the management of high-frequency joint and motor dynamics. There has been great interest in "universal controllers" that mimic the functions of human processes to learn about the systems they are controlling on-line so that performance improves automatically. For both formats the functionality available will depend on how you access the ebook (via Bookshelf Online in your browser or via the Bookshelf app on your PC or mobile device).
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