This open book mainly focuses on the safe control of robot manipulators. The control schemes are mainly developed based on dynamic neural network, which is an important theoretical branch of deep reinforcement learning. In order to enhance the safety performance of robot systems, the control strategies include adaptive tracking control for robots with model uncertainties, compliance control in uncertain environments, obstacle avoidance in dynamic workspace. The idea for this book on solving safe control of robot arms was conceived during the industrial applications and the research discussion in the laboratory. Most of the materials in this book are derived from the authors' papers published in journals, such as IEEE Transactions on Industrial Electronics, neurocomputing, etc. This book can be used as a reference book for researcher and designer of the robotic systems and AI based controllers, and can also be used as a reference book for senior undergraduate and graduate students in colleges and universities.
This open book is licensed under a Creative Commons License (CC BY). You can download AI based Robot Safe Learning and Control ebook for free in PDF format (9.3 MB).
Table of Contents
Adaptive Jacobian Based Trajectory Tracking for Redundant Manipulators with Model Uncertainties in Repetitive Tasks
RNN Based Trajectory Control for Manipulators with Uncertain Kinematic Parameters
RNN Based Adaptive Compliance Control for Robots with Model Uncertainties
Deep RNN Based Obstacle Avoidance Control for Redundant Manipulators
Optimization-Based Compliant Control for Manipulators Under Dynamic Obstacle Constraints
RNN for Motion-Force Control of Redundant Manipulators with Optimal Joint Torque
AI based Robot Safe Learning and Control
Engineering and Technology
This free book will focus on theoretical aspects of Statistical Learning and Sequential Prediction. Until recently, these two subjects have been treated separately within the learning community. The course will follow a unified approach to analyzing learning in both scenarios. To make this happen, we shall bring together ideas from probability and ...
The conventional approach to risk communication, based on a centralized and controlled model, has led to blatant failures in the management of recent safety related events. In parallel, several cases have proved that actors not thought of as risk governance or safety management contributors may play a positive role regarding safety. Building on the...
This book provides a practical philosophy for promoting students' sophisticated thinking from Early Childhood to PhD in ways that explicitly interconnect across the years of education. It will help teachers, academics and the broader learning and teaching community to understand and implement these connections by introducing a conceptual frame...
This open book focuses on robot introspection, which has a direct impact on physical human - robot interaction and long-term autonomy, and which can benefit from autonomous anomaly monitoring and diagnosis, as well as anomaly recovery strategies. In robotics, the ability to reason, solve their own anomalies and proactively enrich owned knowledge is...
This advanced textbook introduces the main concepts and advances in systems and control theory, and highlights the importance of geometric ideas in the context of possible extensions to the more recent developments in nonlinear systems theory. Although inspired by engineering applications, the content is presented within a strong theoretical framew...