Neuro-fuzzy control in intelligent welding robots 知能溶接ロボットにおけるニューロ・ファジィ制御

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著者

    • 山根, 敏 ヤマネ, サトシ

書誌事項

タイトル

Neuro-fuzzy control in intelligent welding robots

タイトル別名

知能溶接ロボットにおけるニューロ・ファジィ制御

著者名

山根, 敏

著者別名

ヤマネ, サトシ

学位授与大学

埼玉大学

取得学位

博士 (工学)

学位授与番号

乙第5号

学位授与年月日

1993-03-24

注記・抄録

博士論文

目次

  1. CONTENTS / p4 (0006.jp2)
  2. CHAPTER 1.INTRODUCTION / p1 (0010.jp2)
  3. 1.1 Background and purpose of the studies on intelligent welding robots / p1 (0010.jp2)
  4. 1.2 Fuzzy control system and neural networks / p4 (0013.jp2)
  5. 1.3 Construction of the present thesis / p5 (0014.jp2)
  6. CHAPTER 2.SENSING AND CONTROLLING WELD POOL WITH FUZZY CONTROLLER DESIGNED FROM EXPERT KNOWLEDGE / p7 (0016.jp2)
  7. 2.1 Introduction / p7 (0016.jp2)
  8. 2.2 System of controlling wire feed rate / p8 (0017.jp2)
  9. 2.3 Fuzzy controller for wire feed rate control / p8 (0017.jp2)
  10. 2.4 Experiment result of wire feed rate control / p13 (0022.jp2)
  11. 2.5 System of sensing and controlling weld pool / p13 (0022.jp2)
  12. 2.6 Sensing of weld pool / p14 (0023.jp2)
  13. 2.7 Sensing of groove gap / p16 (0025.jp2)
  14. 2.8 Fuzzy controller designed from expert knowledge / p16 (0025.jp2)
  15. 2.9 Experimental result of weld pool control / p18 (0027.jp2)
  16. 2.10 Conclusion / p18 (0027.jp2)
  17. CHAPTER 3.WELD POOL CONTROL WITH FUZZY CONTROLLER DESIGNED FROM MODERN CONTROL THEORY / p30 (0039.jp2)
  18. 3.1 Introduction / p30 (0039.jp2)
  19. 3.2 Weld pool width control / p30 (0039.jp2)
  20. 3.3 Design of fuzzy controller and control experiments / p35 (0044.jp2)
  21. 3.4 Conclusion / p36 (0045.jp2)
  22. CHAPTER 4.TRACKING OF THE WELDING LINE WITH NEURAL NETWORK AND FUZZY CONTROLLER / p41 (0050.jp2)
  23. 4.1 Introduction / p41 (0050.jp2)
  24. 4.2 System of tracking welding line / p42 (0051.jp2)
  25. 4.3 Principle of sensor to detect arc length / p42 (0051.jp2)
  26. 4.4 Tracking method with arc sensor / p43 (0052.jp2)
  27. 4.5 Design of fuzzy controller / p45 (0054.jp2)
  28. 4.6 Construction of neural network to recognize the corner / p47 (0056.jp2)
  29. 4.7 Simulation result / p53 (0062.jp2)
  30. 4.8 Experimental result / p54 (0063.jp2)
  31. 4.9 Conclusion / p54 (0063.jp2)
  32. CHAPTER 5.SENSING AND TRACKING OF GROOVE GAP WITH CCD CAMERA AND TOUCH SENSOR / p64 (0073.jp2)
  33. 5.1 Introduction / p64 (0073.jp2)
  34. 5.2 System of tracking the groove gap / p65 (0074.jp2)
  35. 5.3 Sensing of the groove gap / p65 (0074.jp2)
  36. 5.4 Tracking method of the groove gap / p67 (0076.jp2)
  37. 5.5 Design of a fuzzy controller to trace the groove gap / p67 (0076.jp2)
  38. 5.6 Construction of a neural network to recognize the corner / p69 (0078.jp2)
  39. 5.7 Tracking experiment / p71 (0080.jp2)
  40. 5.8 Conclusion / p71 (0080.jp2)
  41. CHAPTER 6.SENSING AND CONTROLLING THE WELD POOL DEPTH WITH NEURO-FUZZY CONTROLLER / p80 (0089.jp2)
  42. 6.1 Introduction / p80 (0089.jp2)
  43. 6.2 Sensing of surface shape of the weld pool / p81 (0090.jp2)
  44. 6.3 Neural networks to describe the state variable / p83 (0092.jp2)
  45. 6.4 Neural networks to describe dynamical system of the weld pool depth / p86 (0095.jp2)
  46. 6.5 Design of fuzzy controllers to control the weld pool depth / p90 (0099.jp2)
  47. 6.6 Welding experiment with the neuro-fuzzy controller / p94 (0103.jp2)
  48. 6.7 Conclusions / p95 (0104.jp2)
  49. CHAPTER 7 APPLICATION OF FUZZY ADAPTIVE CONTROL TO WELDING ROBOT / p106 (0115.jp2)
  50. 7.1 Introduction / p106 (0115.jp2)
  51. 7.2 Control system / p106 (0115.jp2)
  52. 7.3 The parameter identification mechanism / p109 (0118.jp2)
  53. 7.4 Back bead control by fuzzy logic / p111 (0120.jp2)
  54. 7.5 Numerical simulations / p112 (0121.jp2)
  55. 7.6 Conclusion / p113 (0122.jp2)
  56. CHAPTER 8.CONCLUDING REMARKS / p119 (0128.jp2)
  57. ACKNOWLEDGMENT / p121 (0130.jp2)
  58. REFERENCES / p122 (0131.jp2)
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各種コード

  • NII論文ID(NAID)
    500000096340
  • NII著者ID(NRID)
    • 8000000096566
  • DOI(NDL)
  • NDL書誌ID
    • 000000260654
  • データ提供元
    • NDL-OPAC
    • NDLデジタルコレクション
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