Adaptive Neural Network Control of a Compact Bionic Handling Arm


In this paper, autonomous management problem of a class of bionic continuum robots named “Compact Bionic Handling Arm” (CBHA) is addressed. These robots will reproduce biological behaviors of trunks, tentacles, or snakes. The modeling problem related to continuum robots includes nonlinearities, structured and unstructured uncertainties, and therefore the hyperredundancy. Moreover to those problems, the CBHA comprises the hysteresis behavior of its actuators and a memory phenomenon related to its structure made of polyamide materials. These undesirable effects build it difficult to design a Control System primarily based on quantitative models of the CBHA. So, 2 subcontrollers are proposed in this paper. One, encapsulated in the opposite, and each implemented in real time permit controlling of the CBHA's finish-effector position. The first subcontroller controls the CBHA's kinematics based mostly on a distal supervised learning theme. The second subcontroller controls the CBHA's kinetics primarily based on an adaptive neural management. These subcontrollers allow a higher assessment of the stability of the control architecture while making certain the convergence of Cartesian errors. The obtained experimental results employing a CBHA robot show an accurate tracking of the CBHA's end-effector position.

Did you like this research project?

To get this research project Guidelines, Training and Code... Click Here

PROJECT TITLE : Partial Computation Offloading and Adaptive Task Scheduling for 5G-enabled Vehicular Networks ABSTRACT: In order to pique the interest of prospective users in the emerging 5G-enabled vehicular networks, a wide
PROJECT TITLE : Deep Visual Odometry with Adaptive Memory ABSTRACT: A novel deep visual odometry (VO) method that takes into account global information by selecting memory and refining poses is presented here. The currently available
PROJECT TITLE : Data Dissemination in VANETs Using Clustering and Probabilistic Forwarding Based on Adaptive Jumping Multi-Objective Firefly Optimization ABSTRACT: The dissemination of data within a VANETs network calls for
PROJECT TITLE : Adaptive Hierarchical Attention-Enhanced Gated Network Integrating Reviews for Item Recommendation ABSTRACT: There have been a number of very successful studies that have focused on integrating ratings and reviews
PROJECT TITLE : Context-aware and Adaptive QoS Prediction for Mobile Edge Computing Services ABSTRACT: Mobile edge computing (MEC) has recently gained a significant amount of momentum due to the fact that it permits the utilization

Ready to Complete Your Academic MTech Project Work In Affordable Price ?

Project Enquiry